CN102289552A - Combined test system and method adopting material object devices and mathematical models - Google Patents
Combined test system and method adopting material object devices and mathematical models Download PDFInfo
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Abstract
A system in which material object devices and mathematical models are adopted to carry out a combined test consists of the mathematical models, model wrappers, the material object devices, a bridge and a visual node, wherein the mathematical models are connected with other models and the bridge by the model wrappers through a communication middle piece; the material object devices and a material object device agent are connected through a real-time share memory net; the bridge consists of the material object device agent and a time management module; the material object device agent reads physical clocks of the material object devices and sends the physical clocks to the time management module; and the data of the material object devices are read and are sent to the wrappers of other mathematical models which subscribe the data and interfaces of the models are called through the wrappers so that the data are transmitted to the models. The data which need to be visualized are sent to the visual node by the model wrappers and the material object device agent through visual interfaces. The interactive problem of the material object devices and the mathematical models as well as the integration method and the promotion problem of the mathematical models and the mathematical models as well as the material object devices and the mathematical models in the test system are solved through the invention.
Description
Technical field
The present invention relates to a kind of equipment in kind and mathematical model be carried out system and its implementation of Combined Trials, belong to the virtual experiment technology field.
Background technology
Along with politics, the restriction of economic dispatch factor and the needs of military developments, in the national defense industry field, the research of carrying out virtual experiment technology becomes more and more important.Virtual test is to utilize the microcomputer modelling emulation technology in conjunction with measuring technology, the communication technology and computer networking technology, for performance test, the technical indicator of weaponry are examined, a kind of test new technology of synthetic effectiveness evaluation exploitation.Virtual test just develops towards " actual situation combination " and the direction of " comprehensive integration ".Equipment in kind and mathematical model integrated carry out the effective means that Combined Trials has now become " actual situation combines " in the virtual test.The High Level Architecture that U.S. Department of Defense proposes (High Level Architecture is called for short HLA) standard has well solved the integration problem between " void " model (mathematical model) in the virtual test.And HLA is short of aspect real-time to some extent, can not satisfy the real-time demand of matter emulation or hardware-in-the-loop simulation.Real-Time Sharing internal memory net can solve this problem, well satisfies the real-time demand.
People's such as Qin Daguo " a kind of distributed simulation based on two bridges is striden the agreement interconnecting method " (system emulation journal) solved the interconnection and interflow problem of distributed interactive simulation (Distributed Interactive Simulation is called for short DIS) and HLA.But DIS and HLA can not well satisfy the real-time demand.Yuan Dan " research and the realization of network system expansion in the distributed real-time emulation " (flood is science and technology all) has solved the problem of SBS and VMIC interconnection and interflow.Though SBS and VMIC are well positioned to meet the real-time demand, its extensibility and interoperability are not as good as HLA.The present invention links to each other equipment in kind or half equipment in kind by Real-Time Sharing internal memory net (reflective memory net); Undertaken each mathematical model integrated by HLA; Again virtual test is built in Real-Time Sharing internal memory net and HLA interconnection and carried out Combined Trials.The present invention can satisfy the real-time demand of material object or hardware-in-the-loop simulation, has reusability, extensibility and interoperability again.
Summary of the invention
Technical matters to be solved by this invention: overcome the deficiencies in the prior art, a kind of system and its implementation of equipment in kind and mathematical model being carried out Combined Trials is provided, this System and method for has solved the interaction problems of equipment in kind and mathematical model in the pilot system, and the integrated approach and the propelling problem of mathematical model and mathematical model and equipment in kind and mathematical model.
Technical scheme of the present invention: a kind of equipment in kind and mathematical model Combined Trials system, each mathematical model that will have unified interface based on the model wrapper of HLA/RTI is integrated; Bridge is communicated with equipment in kind and is responsible for the real-time time propelling of whole test with each mathematical model.Feature based on the Combined Trials system and method for equipment in kind and mathematical model comprises:
Mathematical model, equipment in kind, model wrapper, bridge and visual node; Wherein:
Described each mathematical model has unified interface;
It is integrated that described model wrapper will have each mathematical model of unified interface: the model wrapper joins in the federation as a federal member, announce the information that mathematical model need be exported, order the information that mathematical model need be imported, the interface of recursive call mathematical model transmits the data of mathematical model; The service interface that calls the RTI net simultaneously carries out the data forwarding of mathematical model alternately to the online wrapper corresponding with other mathematical model of RTI;
Described bridge is made up of proxy for equipment module in kind and time management module; The proxy for equipment module in kind and the model wrapper of bridge interconnect equipment in kind and mathematical model: the proxy for equipment module in kind of bridge joins in the federation of whole test as federal member, announce the information that equipment in kind need be exported, and reading device data in kind on the Real-Time Sharing internal memory net (VMIC), the service interface by the RTI net sends to the online and mathematical model of RTI with data to carry out alternately;
The time management module of described bridge is introduced priority query the time in the test is managed: the physical time of the time of whole test according to equipment in kind advances; When each model wrapper advances, the clock that the time for reading administration module sends, if the time reaches the time that model is asked, the interface that the model wrapper is called mathematical model advances, push away after further finishing next step request time of mathematical model is sent to the time management module, the time management module reads the phy clock of equipment in kind and is stored in the system time formation, and the request time of each mathematical model that will receive is stored in the Request Priority formation simultaneously; During time management module transmitting time, read phy clock, and judge whether request time is arranged in the priority query, if having then when system time is advanced to this time point, this request time is sent to each mathematical model;
Described model wrapper and bridge utilize visualization interface that test figure is sent to visual node to show: announce corresponding object class and interactive class when the proxy for equipment module in kind of model wrapper and bridge starts, visual node is ordered corresponding object class and interactive class; Model wrapper and proxy for equipment module in kind will need visual data to send to visual node with the form of object class and interactive class respectively during operation, and visual node utilization two dimension or three-dimensional visualization technique show.
The present invention's beneficial effect compared with prior art:
(1) has " actual situation combination " ability.Equipment in kind and mathematical model can be carried out Combined Trials, have solved the interconnection and interflow problem of equipment in kind and mathematical model.Equipment in kind can verify in virtual environment that virtual mathematical model can be carried out alternately to verify the correctness of mathematical model with equipment in kind.
(2) by based on the model wrapper of HLA/RTI that mathematical model is integrated, each model all adds test with federal member by the packing of model wrapper, and total system is with good expansibility.
(3) each mathematical model adopts unified interface to write, and the model of writing adds test by general model wrapper packing back, and different tests can repeatedly utilize same mathematical model, and mathematical model has reusability preferably.
(4) pass through Real-Time Sharing internal memory net with apparatus interconnection in kind, can guarantee the real-time that matter emulation or hardware-in-the-loop simulation are required.The time of system advances the phy clock according to equipment in kind to advance, and makes Combined Trials possess real-time.
Description of drawings
Fig. 1 is that system of the present invention forms structured flowchart;
Fig. 2 is that model wrapper of the present invention realizes figure;
Fig. 3 is that proxy for equipment module in kind of the present invention realizes figure;
Fig. 4 is that the data read module in the proxy for equipment module in kind of the present invention is realized figure;
Fig. 5 is that the emulation module in the proxy for equipment module in kind of the present invention is realized figure;
Fig. 6 is that time management module of the present invention realizes figure;
Fig. 7 is realization flow figure of the present invention.
Embodiment
As shown in Figure 1, system of the present invention is made up of mathematical model, model wrapper, equipment in kind, bridge, visual node etc.Each mathematical model through the model wrapper by communication middleware (native system adopt be the realization RTI of HLA standard) and other model and bridge interconnection.Each equipment in kind and proxy for equipment in kind are by the interconnection of Real-Time Sharing internal memory net, and what Real-Time Sharing internal memory net of the present invention adopted is VMIC reflective memory net.Equipment in kind and mathematical model interconnect by bridge.Bridge is made up of proxy for equipment in kind and time management module.Proxy for equipment in kind reads the phy clock of equipment in kind and passes to the time management module; Read the data of equipment in kind and send to the wrapper of other mathematical model of ordering these data, the interface that is called model by wrapper passes to model.Model wrapper and proxy for equipment in kind will need visual data to send to visual node by visualization interface.Visualization interface is based on some object class and the interactive class of HLA.
Mathematical model among the present invention is write according to unified interface.Unified model interface comprises 5, can carry out initialization to model; The incident of input, time and data; The Debugging message that output model need be exported etc.Concrete interface definition following (wherein IN and OUT represent parameter type, and IN represents input parameter, and OUT represents output parameter, and IN and OUT back are parameter name):
(1) initialization interface InitModel (IN initFile): model is carried out initialization, can specify initialization files initFile to model, model reads initialization files model is carried out initial setting up.
(2) receive event interface Receivelnteraction (IN t, IN interaction): the incident that input model receives, parametric t are the time point when receiving incident, and interaction is the event data of receiving.
(3) send event interface Sendlnteraction (IN t, OUT interaction): the incident that output model will be exported, the time point when parametric t is the transmission incident, interaction are the event data that model will be exported.
(4) advance interface GoStep (IN﹠amp; ﹠amp; OUT t, IN inObjs, OUT outObj): model pushes away further, and parametric t is input parameter before interface is called, import the time point when advancing into, calls the back and is output parameter, is worth for next asks the time point that advances constantly; InObjs is other model data (can be the data of a model, also can be the data of a plurality of models) that model needs; OutObj is the output data of this model.
(5) check Debugging message interface DebugMessage (OUT message): call the output information that this interface can output model inside, can check the internal operation situation and the debugging model of model, message is the output information of model.
Model wrapper among the present invention is packed above-mentioned mathematical model with unified interface, calls each interface of model and is responsible for the information transmission of model and other model by the service interface of communication middleware, and its implementation as shown in Figure 2.At first analytic model prefer file, the essential information that obtains model comprises: model name, model initialization files, the announcement order relations of the path of model file and model and other model.Path stress model dynamic link library according to model calls initialization interface InitModel initialization model, calls the service interface (being the HLA service interface) of RTI net and creates federation, adds federal.Prefer the information announcement that obtains and order corresponding object class and interactive class, registry object example according to parsing.Wrapper is used queue stores with the time that the time management module sends, whether free judge in the formation earlier when whether judgement time advances, if have then whether the application time of comparison model mates with the current propelling time, if mate then whether judgment models receives that (incident of model realizes with the interactive class of communication middleware for the incident of other model, when model is received the interactive class of other model transmission, middleware can call the call back function notice), give model if there is the interactive class input to call reception event interface Receivelnteraction with the interactive class data transfer.Next call and advance interface GoStep to allow Model Calculation push ahead, and return next request time point and model by this interface and push away output data after further.And request time is sent to the time management module by the HLA service interface, the output data of model is sent to other model and visual node.Then call model transmission event interface Sendlnteraction judgement and have or not interactive class output, interactive class is sent to other model if having then call the RTI service interface.Call to call behind each interface of model and check that Debugging message interface DebugMessage checks the Debugging message of model output.Judge at last whether test finishes,, then continue judgement time and advance if do not finish; If finish, then withdraw from and destroy federation.
Bridge of the present invention is made up of proxy for equipment in kind and time management module.The data that proxy for equipment in kind is responsible for transmitting equipment in kind are to mathematical model, and it is made up of data read module and emulation module, and data read module reads the data of equipment in kind; Emulation module is gone out the data forwarding that reads.Proxy for equipment implementation in kind as shown in Figure 3, at first resolve and prefer equipment in kind and the relation of other model and the essential information of whole test that file obtains acting on behalf of, then create federal, add federal, announce and order corresponding object class and interactive class, send the initialization interactive class to visual node, then log-on data read module and emulation module.
In order to improve concurrent ability, data read module is an independent thread.The implementation of data read module as shown in Figure 4.Thread is opened the VMIC plate earlier and plate is carried out initialization after starting.
Next the poll zone bit checks whether equipment in kind has new data, if having then reading of data and store the zone bit of resetting simultaneously.The data that read are divided into two classes, and a class is the phy clock of equipment in kind, the another kind of real time data that is physical equipment at each time point.Adopt two data structures to store during data read module storage data.Phy clock adopts queue stores to be called the system time formation, and the The data index stores of each time point is convenient to emulation module is obtained equipment in kind with the constant time when the time advances data like this.
The implementation of emulation module as shown in Figure 5.If federation does not exist then creates federally during beginning, then add federally, send the initialization interactive class for visual node, allow the three-dimensional visualization node finish initial work.The time management module judges whether to advance, if advance then the new data of getting equipment in kind from index sends to other model and visual node.The real time data that detects equipment in kind has judged whether that incident sends, and if had would send interactive class to other model and send the performance interactive class to the three-dimensional visualization node by its display effect; Judge at last whether test finishes,, destroy federal if finish then withdraw from federation.
The time request that each model wrapper sends is collected in the system time formation of time management module reading of data read module, and each time point is stored in is called request queue in the priority query.Judge whether that the flow process that advances as shown in Figure 6.Judge that at first whether request queue is empty,,, show then that equipment in kind begins to advance with each mathematical model and begun request time if be empty if for sky then judge whether the system time formation is empty.Follow extraction system time and request time, request time is to be stored in the priority query, can guarantee that so each request time that takes out is a minimum value, and the time advances the minimum step according to each model to advance.Whether sent before judging this request time point, if send, then the request time formation goes out team.Whether do not judge system time more than or equal to request time if send, if then advance the current request time point.If request queue then advances current system time point for the formation of sky system time is not empty.
Visualization interface is the set of some object class and interactive class.The emulation module of model wrapper and proxy for equipment in kind is announced these object class and interactive class, and the three-dimensional visualization node is ordered these object class and interactive class.The data message of mathematical model and equipment in kind such as coordinate and attitude information etc. are transferred to visual node by RTI with the form of object class; The event information of mathematical model and equipment in kind is as separating and information such as blast is transferred to visual node by RTI with the form of interactive class.As required, can define a plurality of object class, the attribute of each object class can be self-defined, but need consistent with the object class of visual node definition.Interactive class only defines one, and for general, the parameter of interactive class only is provided with one, and during the RTI transmission, concrete transmission content (as comprising event type and the data relevant with incident) is transmitted by this parameter.
Total system implementation of the present invention as shown in Figure 7, visual node starts during beginning, the node of each deployment model wrapper and proxy for equipment in kind starts.Proxy for equipment in kind and model wrapper send the initialization interactive class for visual node, and each entity of visual node initializing is waited for on-test.After equipment in kind comes into operation, physical time and real time data are write Real-Time Sharing internal memory net.The data read module time for reading of proxy for equipment in kind and the data of equipment are carried out buffer memory.The time management module reads the physical time of buffer memory, stores with priority query to the request time of each model wrapper transmitting time and reception feedback, simultaneously simulation time is sent to visual node.Proxy for equipment in kind sends to the model wrapper with the real time data of material object, and each interface of each model wrapper recursive call mathematical model advances, and device data in kind is passed to each model, and the output data that obtains model is transferred to other model again.Request time with model sends to the time management device simultaneously.In this process, proxy for equipment in kind and model wrapper will visual data and effect send to visual node by visualization interface, visual node carries out 3-D display.Iteration like this is with the time of equipment in kind and the operation of data-driven whole test, up to off-test.
Claims (6)
1. equipment in kind and mathematical model are carried out the system of Combined Trials, it is characterized in that comprising: mathematical model, equipment in kind, model wrapper, bridge and visual node; Wherein:
Described each mathematical model has unified interface;
It is integrated that described model wrapper will have each mathematical model of unified interface: the model wrapper joins in the federation as a federal member, announce the information that mathematical model need be exported, order the information that mathematical model need be imported, the interface of recursive call mathematical model transmits the data of mathematical model; The service interface that calls the RTI net simultaneously carries out the data forwarding of mathematical model alternately to the online wrapper corresponding with other mathematical model of RTI;
Described bridge is made up of proxy for equipment module in kind and time management module; The proxy for equipment module in kind and the model wrapper of bridge interconnect equipment in kind and mathematical model: the proxy for equipment module in kind of bridge joins in the federation of whole test as federal member, announce the information that equipment in kind need be exported, and reading device data in kind on the Real-Time Sharing internal memory net (VMIC), the service interface by the RTI net sends to the online and mathematical model of RTI with data to carry out alternately;
The time management module of described bridge is introduced priority query the time in the test is managed: the phy clock of the time of whole test according to equipment in kind advances; When each model wrapper advances, the clock that the time for reading administration module sends, if the time reaches the time that mathematical model is asked, the interface that the model wrapper is called mathematical model advances, push away after further finishing next step request time of mathematical model is sent to the time management module, the time management module reads the phy clock of equipment in kind and is stored in the system time formation, and the request time of each mathematical model that will receive is stored in the Request Priority formation simultaneously; During time management module transmitting time, read phy clock, and judge whether request time is arranged in the priority query, if having then when system time is advanced to this time point, this request time is sent to each mathematical model;
Described model wrapper and bridge utilize visualization interface that test figure is sent to visual node to show: announce corresponding object class and interactive class when the proxy for equipment module in kind of model wrapper and bridge starts, visual node is ordered corresponding object class and interactive class; Model wrapper and proxy for equipment module in kind will need visual data to send to visual node with the form of object class and interactive class respectively to show during operation.
2. equipment in kind according to claim 1 and mathematical model are carried out the system of Combined Trials, it is characterized in that: described mathematical model unified interface comprises 5 at least, can carry out initialization to model; The reception incident; The transmission incident; Advance and check Debugging message, concrete interface definition is as follows, and wherein IN and OUT represent parameter type, and IN represents input parameter, and OUT represents output parameter, and IN and OUT back are parameter name:
(1) initialization interface InitModel (IN initFile): be used for mathematical model is carried out initialization, specify initialization files initFile to mathematical model, mathematical model reads initialization files mathematical model is carried out initial setting up;
(2) receive event interface Receivelnteraction (IN t, IN interaction): being used for the incident that the inputting mathematical model receives, is time point when receiving incident comprising parametric t; Interaction is the event data of receiving;
(3) send event interface Sendlnteraction (IN t, OUT interaction): be used to export the incident that mathematical model will be exported, comprise the time point when parametric t is the transmission incident, interaction is the event data that mathematical model will be exported;
(4) advance interface GoStep (IN﹠amp; ﹠amp; OUT t, IN inObjs, OUT outObj): be used for mathematical model and push away further, parametric t is input parameter before interface is called, import the time point when advancing into, calls the back and is output parameter, is worth for next asks the time point that advances constantly; InObjs is other mathematical model data that mathematical model needs; OutObj is the output data of this mathematical model;
(5) check Debugging message interface DebugMessage (OUT message): call the output information that this interface can be exported mathematical model inside, be used to check the internal operation situation and the debugging model of mathematical model, message is the output information of mathematical model.
3. equipment in kind according to claim 1 and mathematical model are carried out the system of Combined Trials, it is characterized in that: being embodied as of described model wrapper: the file that prefers of at first resolving mathematical model, obtain the essential information of mathematical model, the announcement order relations of the path of mathematical model file and mathematical model and other mathematical model, path according to mathematical model loads the mathematical model dynamic link library, call initialization interface InitModel initialization mathematical model, calling the service interface of RTI net creates federal, add federal, prefer information announcement and corresponding object class of order and the interactive class that file obtains, registry object example according to parsing; The time that the time management module sends is used queue stores, whether free judge in the formation earlier when whether judgement time advances, if have then relatively whether the application time of mathematical model mates with the current propelling time, if the coupling would judge whether mathematical model receives the incident of other mathematical model, give mathematical model if there is the interactive class input to call reception event interface Receivelnteraction with the interactive class data transfer, next call and advance interface GoStep to allow calculated with mathematical model push ahead, and return output data after next request time point and mathematical model push away further by this interface, and request time is sent to the time management module by the service interface of RTI net, the output data of mathematical model is sent to other mathematical model and visual node; Then call and send event interface Sendlnteraction and judge and have or not interactive class output, if having then the service interface that calls the RTI net sends to other model with interactive class; Call to call behind the interface of mathematical model and check that Debugging message interface DebugMessage checks the Debugging message of model output; Judge at last whether test finishes,, continue judgement time and advance,, then withdraw from and destroy federation if finish if do not finish.
4. equipment in kind according to claim 1 and mathematical model are carried out the system of Combined Trials, it is characterized in that: described proxy for equipment module in kind is made up of data read module and emulation module, data read module reads the data of equipment in kind, and emulation module is gone out the data forwarding that reads; The implementation of described data read module is: at first Real-Time Sharing internal memory net is carried out initialization; The poll zone bit checks whether equipment in kind has new data then, if having then reading of data and store the zone bit of resetting simultaneously; The data that read are divided into two classes, and a class is the phy clock of equipment in kind, the another kind of real time data that is physical equipment at each time point; Adopt two data structures to store during data read module storage data, phy clock adopts queue stores to be called the system time formation, the The data index stores of each time point; The implementation of described emulation module is: if federation does not exist then creates federally during beginning, then add federally, send the initialization interactive class for visual node, finish the initial work of equipment in kind; The time management module judges whether to advance, if advance then the new data of getting equipment in kind from index sends to other mathematical model and visual node; The real time data that detects equipment in kind has judged whether that incident sends, and if had would send interactive class to other mathematical model and send the performance interactive class to visual node by its display effect; Judge at last whether test finishes,, destroy federal if finish then withdraw from federation.
5. equipment in kind according to claim 1 and mathematical model are carried out the system of Combined Trials, it is characterized in that: being embodied as of described time management module: judge at first whether request queue is empty, if be not empty, judge then whether the system time formation is empty; If be not empty, show that then equipment in kind begins to advance and each mathematical model has begun request time; Extraction system time and request time then, request time is to be stored in the priority query, can guarantee that so each request time that takes out is a minimum value, the time advances the minimum step according to each model to advance; Whether sent before then judging this request time point, if send, then the request time formation goes out team; If do not send, judge that then whether system time is more than or equal to request time; If then advance the current request time point; If request queue then advances current system time point for the formation of sky system time is not empty.
6. equipment in kind and mathematical model are carried out the method for Combined Trials, it is characterized in that performing step is as follows:
Visual node starts when (1) beginning, the node of each deployment model wrapper and proxy for equipment module in kind starts, proxy for equipment module in kind and model wrapper send the initialization interactive class for visual node, and each entity of visual node initializing is waited for on-test;
(2) after equipment in kind comes into operation, physical time and real time data are write Real-Time Sharing internal memory net, the data of proxy for equipment module time for reading in kind and equipment are carried out buffer memory; The time management module reads the physical time of buffer memory, stores with priority query to the request time of each model wrapper transmitting time and reception feedback, simultaneously test period is sent to visual node; Proxy for equipment in kind sends to the model wrapper with the real time data of material object;
(3) each interface of each model wrapper recursive call mathematical model advances, and device data in kind is passed to each mathematical model, and the output data that obtains mathematical model is transferred to other mathematical model again; Request time with mathematical model sends to the time management device simultaneously; In this process, proxy for equipment in kind and model wrapper will visual data and effect send to visual node by visualization interface;
(4) visual node shows; Iteration like this is with the time of equipment in kind and the operation of data-driven whole test, up to off-test.
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| CN103514337A (en) * | 2013-10-25 | 2014-01-15 | 北京经纬恒润科技有限公司 | Simulation system and method |
| CN103713940B (en) * | 2013-12-24 | 2017-02-01 | 四川川大智胜软件股份有限公司 | Method for reconfigurable distributed real-time simulation based on RTX-HLA reflection storage card |
| CN106844822A (en) * | 2016-11-15 | 2017-06-13 | 北京宇航系统工程研究所 | A kind of carrier rocket Hardware In The Loop Simulation Method for supporting rapid virtual-to-physical to exchange |
| CN106844822B (en) * | 2016-11-15 | 2020-09-18 | 北京宇航系统工程研究所 | Carrier rocket semi-physical simulation method supporting rapid virtual-real interchange |
| TWI662440B (en) * | 2017-03-24 | 2019-06-11 | 國立成功大學 | System and method for machine tool maintenance and repair |
| CN109088905A (en) * | 2017-06-14 | 2018-12-25 | 浙江贵仁信息科技股份有限公司 | A kind of mathematical model service system and mathematical model management method based on cloud computing |
| CN109254824A (en) * | 2018-09-28 | 2019-01-22 | 哈尔滨工业大学 | The ownership management service implementing method of Combined Trials platform middleware |
| CN109254824B (en) * | 2018-09-28 | 2021-08-13 | 哈尔滨工业大学 | Ownership management service implementation method for middleware of joint test platform |
| CN109542067A (en) * | 2018-12-04 | 2019-03-29 | 天津大学 | Multivariable structural test real-time control system and method based on shared drive |
| CN114442505A (en) * | 2020-11-03 | 2022-05-06 | 中国兵器科学研究院 | Virtual and real battlefield space-time synchronization system |
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