CN101533262A - Method for realizing associative simulation of machine and control system based on service - Google Patents
Method for realizing associative simulation of machine and control system based on service Download PDFInfo
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- CN101533262A CN101533262A CN200910082809A CN200910082809A CN101533262A CN 101533262 A CN101533262 A CN 101533262A CN 200910082809 A CN200910082809 A CN 200910082809A CN 200910082809 A CN200910082809 A CN 200910082809A CN 101533262 A CN101533262 A CN 101533262A
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Abstract
The invention provides a method for realizing associative simulation of machine and control system based on service. The method comprises three main steps of a first step of compiling an ADAMS universal interface module and encapsulating to be Web service; a second step of compiling an MATLAB universal interface module and performing Web service encapsulation; and a third step of registering and issuing Web service, and realizing application program associative calling of wide area network. The invention comprises application program encapsulation based on service and realizes loose coupling between ADAMS and MATLAB under a service-oriented architecture (SOA), and transparent position and transport protocol by means of an ADAMS user subprogram and an MATLAB engine technique, so as to meet the optimisation requirements of complex product on distributed collaborative simulation in multiple fields. The invention solves the integration and module reusability of the existing ADAMS mechanical system and MATLAB control system in distributed collaborative simulation, supports the Web service encapsulation of ADAMS and MATLAB and supports distributed collaborative simulation in multiple fields in the wide area network environment. The collaborative simulation system has simple construction, strong expansibility and wide application prospect.
Description
(1) technical field
The present invention relates to a kind of method that realizes based on the machinery and the control system associative simulation of service, promptly a kind of method that realizes based on the associative simulation of ADAMS that serves and MATLAB belongs to the computer distribution type simulation technical field.
(2) background technology
Development along with computer hardware technique and emulation self-technique, people have developed the MATLAB/Simulink of the commercial simulation software of a large amount of maturations such as ADAMS (Automatic Dynamic Analysis of Mechanical Systems machinery many-body dynamics simulation software) and MathWork company, strong promotion the application of emulation technology in complex product designs.For the emulation overall application is designed in complex product, we need consider product behavior requirement comprehensively in design process, make full use of simulation modeling, control and verification instrument, make the emulation tool synthetic operation of a plurality of different field such as machinery, control, electronics, the holonomic system model is carried out parallel parsing, obtain the products perfection design as far as possible.
Towards the distributed collaboration emulation of complex product design, be to be positioned at different local designers to be the mutual collaborative modeling emulation of certain artificial tasks, it has " distributivity " and " concertedness " two principal characters.Distributivity is mainly reflected in the distributivity in designer geographic position, and it is a total modeling and simulating task and collaborative work that concertedness then is mainly reflected in the different designs personnel.When utilizing the commercial simulation software of different ambits such as ADAMS and MATLAB, after employing is finished Multi-disciplinary Modeling based on the method for interface, can realize the collaborative simulation operation.But at present, can only provide centralized collaborative simulation operation function usually: all models and corresponding simulation software all must be positioned on the single computer.Obviously, the method for this collaborative simulation operation must have the many shortcomings based on the Multi-disciplinary Modeling method of interface, and it does not have standard, an opening, and expands difficulty.
Ways of addressing this issue mainly contains: High Level Architecture HLA.It is a kind of advanced person's a simulation architecture, has plurality of advantages such as standard, opening, expandability and support distributed emulation, makes each field Simulation Application software only need develop interface with HLA, can realize Multi-disciplinary Modeling preferably.Yet HLA only supports that also the management synergy to each federal member of simulation software calls in the LAN (Local Area Network), and the needs that design with complex product that further develop along with emulation technology based on the distributed collaboration emulation of wide area network, are still a problem demanding prompt solution.
(3) summary of the invention
(1) purpose: the object of the present invention is to provide a kind of method that realizes based on the machinery and the control system associative simulation of service, it is the method for the associative simulation realization of ADAMS and MATLAB, it has overcome the deficiencies in the prior art, in wide area network, make up ADAMS and MATLAB emulation application service platform, make the two integrated, be implemented in the multi-field distributed collaboration parallel artificial under the wide area network in the mode of loose coupling.
(2) technical scheme: a kind of method that realizes based on the machinery and the control system associative simulation of service, i.e. the method for the associative simulation of ADAMS and MATLAB realization, these method concrete steps are as follows:
Step 1: write the ADAMS common interface module and be encapsulated as the step of Web service, that is: at first determine ADAMS and MATLAB associative simulation input and output call relation, change ADAMS and MATLAB associative simulation mode under the single node, user's subroutine masterplate that the formula translation that carries according to ADAMS software is write, establishment can be read in input document value automatically, start ADAMS/Solver model is carried out simulation calculating, and can automatically output valve be write the ADAMS common interface module of output document, then according to the creation method of Web service, under NET or J2EE environment, write the Web service that to call executable program file, generate corresponding WSDL interface and describe document with C# or JAVA;
Step 2: the step of writing the MATLAB common interface module and carrying out the Web service encapsulation, that is: at first,, ADAMS is imported the model output of document as MATLAB with of the model input of ADAMS output document as MATLAB.Write corresponding m file module, read in the output of ADAMS, start Simulink control emulation module, and the result is imported the input document of ADAMS, utilize the MATLAB engine technique to call this m file then, under the VC environment, generate the executable file that can start Simulink control emulation module, set up MATLAB interface interchange module, and create the Web service that can call MATLAB control emulation, generate the WSDL service description document.The description document of manual modification, expansion ADAMS and MATLAB interface is described to form complete general Web service access interface on this basis;
Step 3: registration and issue Web service, the application program of realization wide area network is united the step of calling, that is: under the existing Web service platform, with the UDDI standard criterion Web service of ADAMS and MATLAB document registration is described to server platform, interface service information is shared in issue, the inquiry of Web service is provided and calls.Adding Web service at the Web page then quotes, write the Web service recursive call module of ADAMS and MATLAB, make the user in wide area network, arrive this Web service by search inquiry, and, model is carried out parallel parsing through being chosen in Web page remote automation recursive call ADAMS and MATLAB associative simulation;
(3) advantage and effect:
1, service-oriented method for designing.Service has opening, autonomy, self descriptiveness and a realization independence, Web service quote two hang-ups that solved ADAMS and the emulation of MATLAB distributed collaboration: one is the interoperability problem between the platform; Another is the tight coupling problem of the presentation layer and the applied logic layer of client and server end;
2, distributed collaboration emulation in the wide area network.Expanded multi-field collaborative simulation; effectively protected software enterprise's intellecture property; promote the multiplexing of Legacy System, support the agility and the advanced distributed emulation modeling of on-demand, the complex product design is carried out with efficient, convenient mode in more wide field.
(4) description of drawings
Fig. 1 is an overall design approach step synoptic diagram of the present invention;
Fig. 2 is ADAMS and MATLAB associative simulation input/output relation synoptic diagram;
Fig. 3 is ADAMS user's subroutine design cycle synoptic diagram of the present invention;
Fig. 4 is the schematic flow sheet of the associative simulation under ADAMS and the MATLAB single node;
Fig. 5 is that WSDL in the Web service, SOAP and UDDI concern synoptic diagram;
Fig. 6 is that service call of the present invention concerns synoptic diagram.
(5) embodiment
A kind of method that realizes based on the machinery and the control system associative simulation of service of the present invention, the present invention is described in further detail below in conjunction with drawings and Examples.
Embodiments of the invention are the service encapsulates of ADAMS and MATLAB associative simulation and the method for issue.
The first step, the interface module function and the encapsulation of writing ADAMS and MATLAB.
At first, determine the input/output relation of ADAMS and MATLAB associative simulation, referring to Fig. 2.
According to the characteristics of calling of ADAMS/Solver (solver), under user's subroutine masterplate framework that the formula translation that ADAMS software carries is write, write and to call the module that ADAMS/Solver carries out simulation calculating.User's subroutine has versatility, can utilize programming language to define model element or specific output.The user can be write as function expression the form of subroutine and it is connected with ADAMS/View, and it has unexistent versatility of function expression and dirigibility.Subroutine utilizes the function of universal programming language (FORTRAN or C) to define the function that ADAMS/View can not provide, and makes it to measure as required the body design.By connecting user's subroutine, can not lose any effect of ADAMS/View, can not reduce simulation velocity yet.
As shown in Figure 3, user's subroutine module that this example is write has defined an input document and has generated an output document automatically, in reading the input document, call ADAMS/Solver automatically after the input value model is carried out analysis and solution, and the result write output document, support the multiple-input and multiple-output of ADAMS realistic model.
Because what carry out is single step emulation, the file that needs control emulation is supported simulation process, therefore need write the control simulation document to support simulation process, promptly writes the ADAMS/acf file and carries out ADAMS initialization and subsequent simulation order.At last, by writing control emulation statement and the acf file encapsulation of autoexec, realize that ADAMS is independent of the establishment of application of model program interface module with initialization and subsequent simulation.
Then, above-mentioned interface function module is carried out Web service encapsulation, that is to say that the common interface module that will be write describes information such as its function to the user under WSDL standard and standard, conveniently call.At first be to create a Web service, under the Web service framework of existing platform, write the Webmethod that calls the ADAMS interface module with C#.After Web method editor generates, generate one and the corresponding acquiescence of this calling module WSDL document thereupon.The document has defined the content of the aspects such as type specification, message semantic definition, operation description, port description and binding protocol thereof of interface Web service.Under the describing framework of acquiescence WSDL, can improve this interface by manual modification and describe.The realization information that is different from Interface design has been stored in the WSDL definition, thereby makes the existence of interface definition be independent of host-host protocol, is finally bound up to it.
In second step, write the MATLAB common interface module and carry out the Web service encapsulation.
At first be to use the MATLAB engine technique MATLAB to be carried out the secondary development of interface.The MATLAB engine function, the calling mutually of m file that can realize VC and MATLAB, it is a background work process, and is separate with all interactive MATLAB processes of current operation, also can not disturb the MATLAB process of Any user operation.In Windows operating system, the MATLAB engine uses The Component Object Model (COM) mutual with C or FORTRAN routine.At first, operate in the controlling models of setting up among the MATLAB/Simulink, and the result is sent into ADAMS model input document automatically by writing the model output document that the m file reads ADAMS.Utilize MATLAB engine technique coding in VC to call the function of this m file then, generate the initialization and the subsequent simulation execution module of this controlling models.
Consult Fig. 4, Fig. 4 carries out the process flow diagram of the associative simulation under the single node by common interface module for ADAMS and MATLAB.
After writing MATLAB initialization and subsequent simulation interface module, just utilize C# language to create Web method call MATLAB interface module, MATLAB initialization and subsequent simulation module are encapsulated as service respectively, the interface that generates service is described document, and is the same with the service encapsulates method of ADAMS module.
Fig. 5 understands WSDL document present position in Web service specifically: the ISP is provided in service registry by the service that is provided, and the message part that wsdl document comprised is mapped in the service registry so that the service requester inquiry; The service user searches and finds own needed service by service registry, therefrom can obtain the WSDL reference address of required service; The service user obtains finishing calling service by the described interface specification of wsdl document, message format stipulations, communication protocol stipulations and reference address behind the wsdl document.
The 3rd step, the Web service of registration and issue application programming interfaces, the application program that realizes wide area network is united and is called.The UDDI normalized definition generic service information registration center software, this registration center's software is with XML form storage and manage all kinds of service unit information, and provides based on the service issue of metamessage and find in the mode of Web service.At first, describe on the basis of document in the Web service of generation corresponding interface, WSDL is described document registration in UDDI, at this moment, the user can carry out far call to corresponding application by the soap message agreement.Then, can search and find Web service at the Web page, by adding the method that Web service is quoted, in the Web page, write executive routine to ADAMS and MATLAB interface service recursive call, can form three services of ADAMS, MATLAB and the two associative simulation thereof, referring to Fig. 6, realize in the wide area network ADAMS and MATLAB being united the method for model being carried out process control simulation.
Claims (1)
1, a kind of method that realizes based on the machinery and the control system associative simulation of service, it is characterized in that: these method concrete steps are as follows:
Step 1: write the ADAMS common interface module and be encapsulated as the step of Web service, that is: at first determine ADAMS and MATLAB associative simulation input and output call relation, change ADAMS and MATLAB associative simulation mode under the single node, user's subroutine masterplate that the formula translation that carries according to ADAMS software is write, establishment can be read in input document value automatically, start ADAMS/Solver model is carried out simulation calculating, and can automatically output valve be write the ADAMS common interface module of output document, then according to the creation method of Web service, under .NET or J2EE environment, write the Web service that to call executable program file, generate corresponding WSDL interface and describe document with C# or JAVA;
Step 2: the step of writing the MATLAB common interface module and carrying out the Web service encapsulation, that is: at first, with of the model input of ADAMS output document as MATLAB, ADAMS is imported the model output of document as MATLAB, write corresponding m file module, read in the output of ADAMS, start Simulink control emulation module, and the result is imported the input document of ADAMS, utilize the MATLAB engine technique to call this m file then, under the VC environment, generate the executable file that can start Simulink control emulation module, set up MATLAB interface interchange module, and create the Web service that can call MATLAB control emulation, generate the WSDL service description document; The description document of manual modification, expansion ADAMS and MATLAB interface is described to form complete general Web service access interface on this basis;
Step 3: registration and issue Web service, the application program of realization wide area network is united the step of calling, that is: under the existing Web service platform, with the UDDI standard criterion Web service of ADAMS and MATLAB document registration is described to server platform, interface service information is shared in issue, the inquiry of Web service is provided and calls; Adding Web service at the Web page then quotes, write the Web service recursive call module of ADAMS and MATLAB, make the user in wide area network, arrive this Web service by search inquiry, and, model is carried out parallel parsing through being chosen in Web page remote automation recursive call ADAMS and MATLAB associative simulation.
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101866378A (en) * | 2010-04-28 | 2010-10-20 | 淮阴工学院 | Method for solving rigidity of plate spring by using automatic dynamic analysis of mechanical system (ADAMS) |
| CN102004635A (en) * | 2010-08-19 | 2011-04-06 | 中国船舶重工集团公司第七○九研究所 | Simulation model system supporting reusing and development method thereof |
| CN102982197A (en) * | 2012-10-30 | 2013-03-20 | 北京华力创通科技股份有限公司 | Multi-domain collaborative distribution type simulation system |
| CN103048929A (en) * | 2012-12-25 | 2013-04-17 | 中南大学 | Visualization process control real-time simulation method based on matrix laboratory (MATLAB) engine |
| CN103955621A (en) * | 2014-05-15 | 2014-07-30 | 北京理工大学 | Combination control platform for snakelike robot simulation experiment |
| CN104915242A (en) * | 2015-06-11 | 2015-09-16 | 北京航天发射技术研究所 | Multidisciplinary co-simulation architectural method |
| CN105247422A (en) * | 2013-04-15 | 2016-01-13 | 卓越中心-虚拟车辆研究有限公司 | Method and device for co-simulating two subsystems |
| CN106777485A (en) * | 2016-11-14 | 2017-05-31 | 北京顺恒达汽车电子股份有限公司 | A kind of method of quick analysis automobile power back door strut system |
| CN107991905A (en) * | 2017-12-25 | 2018-05-04 | 南京邮电大学 | A kind of analogue system of the multiple no-manned plane mission planning based on Web |
| CN108376206A (en) * | 2018-02-09 | 2018-08-07 | 大连理工大学 | A method of by carrying out on-line real time monitoring to mechanical equipment with kinematics union simulation platform |
| CN111752692A (en) * | 2020-06-23 | 2020-10-09 | 北京经纬恒润科技有限公司 | Multi-core task processing method and device under simulation environment |
| CN113312793A (en) * | 2021-04-27 | 2021-08-27 | 中国电子科技集团公司第十四研究所 | Distributed simulation verification system based on radar information processing |
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Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101866378B (en) * | 2010-04-28 | 2011-11-16 | 淮阴工学院 | Method for solving rigidity of plate spring by using automatic dynamic analysis of mechanical system (ADAMS) |
| CN101866378A (en) * | 2010-04-28 | 2010-10-20 | 淮阴工学院 | Method for solving rigidity of plate spring by using automatic dynamic analysis of mechanical system (ADAMS) |
| CN102004635B (en) * | 2010-08-19 | 2014-10-01 | 中国船舶重工集团公司第七0九研究所 | Simulation model system supporting reusing and development method thereof |
| CN102004635A (en) * | 2010-08-19 | 2011-04-06 | 中国船舶重工集团公司第七○九研究所 | Simulation model system supporting reusing and development method thereof |
| CN102982197A (en) * | 2012-10-30 | 2013-03-20 | 北京华力创通科技股份有限公司 | Multi-domain collaborative distribution type simulation system |
| CN103048929A (en) * | 2012-12-25 | 2013-04-17 | 中南大学 | Visualization process control real-time simulation method based on matrix laboratory (MATLAB) engine |
| CN105247422A (en) * | 2013-04-15 | 2016-01-13 | 卓越中心-虚拟车辆研究有限公司 | Method and device for co-simulating two subsystems |
| CN105247422B (en) * | 2013-04-15 | 2019-03-01 | 卓越中心-虚拟车辆研究有限公司 | Method and apparatus for carrying out collaborative simulation to two subsystems |
| CN103955621A (en) * | 2014-05-15 | 2014-07-30 | 北京理工大学 | Combination control platform for snakelike robot simulation experiment |
| CN104915242A (en) * | 2015-06-11 | 2015-09-16 | 北京航天发射技术研究所 | Multidisciplinary co-simulation architectural method |
| CN104915242B (en) * | 2015-06-11 | 2018-07-24 | 北京航天发射技术研究所 | Multidisciplinary collaboration simulation framework method |
| CN106777485A (en) * | 2016-11-14 | 2017-05-31 | 北京顺恒达汽车电子股份有限公司 | A kind of method of quick analysis automobile power back door strut system |
| CN107991905A (en) * | 2017-12-25 | 2018-05-04 | 南京邮电大学 | A kind of analogue system of the multiple no-manned plane mission planning based on Web |
| CN108376206A (en) * | 2018-02-09 | 2018-08-07 | 大连理工大学 | A method of by carrying out on-line real time monitoring to mechanical equipment with kinematics union simulation platform |
| CN108376206B (en) * | 2018-02-09 | 2021-09-24 | 大连理工大学 | Method for monitoring mechanical equipment on line in real time by applying kinematics combined simulation platform |
| CN111752692A (en) * | 2020-06-23 | 2020-10-09 | 北京经纬恒润科技有限公司 | Multi-core task processing method and device under simulation environment |
| CN111752692B (en) * | 2020-06-23 | 2024-04-12 | 北京经纬恒润科技股份有限公司 | Multi-core task processing method and device in simulation environment |
| CN113312793A (en) * | 2021-04-27 | 2021-08-27 | 中国电子科技集团公司第十四研究所 | Distributed simulation verification system based on radar information processing |
| CN113312793B (en) * | 2021-04-27 | 2024-03-22 | 中国电子科技集团公司第十四研究所 | Distributed simulation verification system based on radar information processing |
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