CN102289552B - Combined test system and method adopting material object devices and mathematical models - Google Patents

Abstract

A system for joint testing of physical equipment and mathematical models is composed of mathematical models, model wrappers, physical equipment, bridges, and visualization nodes; the mathematical models are interconnected with other models and bridges through model wrappers and communication middleware; The physical device and the physical device agent are interconnected through a real-time shared memory network; the bridge is composed of the physical device agent and the time management module; the physical device agent reads the physical clock of the physical device and transmits it to the time management module; reads the data of the physical device and Wrapper sent to other math models ordering this data, passed to the model by the wrapper calling the model's interface. The model wrapper and physical device agent send the data that needs to be visualized to the visualization node through the visualization interface. The invention solves the interactive problem of physical equipment and mathematical model in the test system, and the integration method and promotion problem of mathematical model and mathematical model, physical equipment and mathematical model.

Description

A joint test system and method of physical equipment and mathematical model

technical field

The invention relates to a system and a realization method for carrying out a combined test of physical equipment and a mathematical model, and belongs to the technical field of virtual tests.

Background technique

With the constraints of political, economic and other factors and the needs of military development, in the field of defense industry, the research of virtual test technology becomes more and more important. Virtual test is a new test technology developed for the performance test, technical index assessment and comprehensive effectiveness evaluation of weaponry and equipment by using computer modeling and simulation technology combined with test technology, communication technology and computer network technology. Virtual experiment is developing towards the direction of "combination of virtual and real" and "integration". Integrating physical equipment and mathematical models for joint tests has become an effective means of "combining virtual reality" in virtual tests. The High Level Architecture (HLA) standard proposed by the U.S. Department of Defense has well solved the integration problem between "virtual" models (mathematical models) in virtual experiments. However, HLA is lacking in real-time performance and cannot meet the real-time requirements of physical simulation or semi-physical simulation. The real-time shared memory network can solve this problem very well and meet the real-time requirements very well.

Qin Daguo et al.'s "A Cross-protocol Interconnection Method for Distributed Simulation Based on Double Bridges" (Journal of System Simulation) solved the interconnection and intercommunication problems between Distributed Interactive Simulation (DIS) and HLA. But neither DIS nor HLA can satisfy the real-time requirement well. Yuan Dan's "Research and Implementation of Network System Expansion in Distributed Real-time Simulation" (Hongdu Technology) solved the problem of interconnection between SBS and VMIC. Although SBS and VMIC can meet real-time requirements well, their scalability and interoperability are not as good as HLA. The invention connects physical equipment or semi-physical equipment through a real-time shared memory network (reflection memory network); integrates various mathematical models through HLA; and then interconnects the real-time shared memory network and HLA to build a virtual test for joint testing. The invention can not only meet the real-time requirement of physical or semi-physical simulation, but also has reusability, scalability and interoperability.

Contents of the invention

The technical problem to be solved by the present invention is to overcome the deficiencies of the prior art and provide a system and its realization method for joint testing of physical equipment and mathematical models. The system and method solve the interaction between physical equipment and mathematical models in the test system Problems, as well as the integration method and advancement of mathematical models and mathematical models, physical equipment and mathematical models.

The technical scheme of the present invention: a joint test system of physical equipment and mathematical models, the HLA/RTI-based model wrapper integrates each mathematical model with a unified interface; the bridge connects the physical equipment with each mathematical model and is responsible for the entire test Real time advance. The characteristics of the combined test system and method based on physical equipment and mathematical models include:

Mathematical models, physical devices, model wrappers, bridges and visualization nodes; where:

Each of the mathematical models has a unified interface;

The model wrapper integrates various mathematical models with a unified interface: the model wrapper joins the federation as a member of the federation, publishes the information that the mathematical model needs to output, orders the information that the mathematical model needs to input, and transfers the interface of the mathematical model cyclically The data of the mathematical model; at the same time, the service interface of the RTI network is called to forward the data of the mathematical model to the RTI network to interact with the wrappers corresponding to other mathematical models;

The bridge is composed of a physical equipment agent module and a time management module; the physical equipment agent module and the model wrapper of the bridge interconnect the physical equipment with the mathematical model: the physical equipment agent module of the bridge joins the entire experiment as a federation member In the federation, publish the information that the physical equipment needs to output, and read the data of the physical equipment on the real-time shared memory network (VMIC), and send the data to the RTI network through the service interface of the RTI network to interact with the mathematical model;

The time management module of the bridge introduces a priority queue to manage the time in the test: the time of the whole test is advanced according to the physical time of the physical device; when each model wrapper advances, read the clock sent by the time management module, if When the time reaches the time requested by the model, the model wrapper calls the interface of the mathematical model to advance. After the push is completed, the next request time of the mathematical model is sent to the time management module. The time management module reads the physical clock of the physical device and stores it in In the system time queue, the received request time of each mathematical model is stored in the request priority queue at the same time; when the time management module sends the time, it reads the physical clock and judges whether there is a request time in the priority queue, and if so, then When the system time advances to the time point, the request time is sent to each mathematical model;

The model wrapper and the bridge use the visual interface to send the test data to the visualization node for display: the model wrapper and the physical device proxy module of the bridge publish the corresponding object class and interaction class when starting, and the visualization node orders the corresponding object class and interaction classes; the runtime model wrapper and physical device agent module send the data to be visualized to the visualization nodes in the form of object classes and interaction classes respectively, and the visualization nodes use two-dimensional or three-dimensional visualization technology to display.

The beneficial effect of the present invention compared with prior art:

(1) Possess the ability of "combining virtual and real". The physical equipment and the mathematical model can be jointly tested, which solves the problem of interconnection between the physical equipment and the mathematical model. Physical equipment can be verified in a virtual environment, and the virtual mathematical model can interact with physical equipment to verify the correctness of the mathematical model.

(2) The mathematical models are integrated through the model wrapper based on HLA/RTI, and each model is added to the test as a federation member through the wrapper of the model wrapper, and the whole system has good scalability.

(3) Each mathematical model is written with a unified interface. The written model is packaged by a general model wrapper and added to the test. Different tests can use the same mathematical model multiple times, and the mathematical model has good reusability.

(4) The physical devices are interconnected through the real-time shared memory network, which can ensure the real-time performance required for physical simulation or semi-physical simulation. The time advancement of the system is advanced according to the physical clock of the physical equipment, which makes the joint experiment real-time.

Description of drawings

Fig. 1 is a system composition block diagram of the present invention;

Fig. 2 is the realization diagram of the model wrapper of the present invention;

Fig. 3 is the implementation diagram of the physical equipment agent module of the present invention;

Fig. 4 is the realization diagram of the data reading module in the physical equipment agent module of the present invention;

Fig. 5 is the realization diagram of the simulation module in the physical equipment agent module of the present invention;

Fig. 6 is the implementation diagram of the time management module of the present invention;

Fig. 7 is a flow chart of the implementation of the present invention.

Detailed ways

As shown in Figure 1, the system of the present invention is composed of a mathematical model, a model wrapper, a physical device, a bridge, a visualization node, and the like. Each mathematical model is interconnected with other models and bridges through the model wrapper through the communication middleware (this system adopts HLA standard implementation RTI). All physical devices and physical device agents are interconnected through a real-time shared memory network, and the real-time shared memory network of the present invention uses a VMIC reflective memory network. Physical equipment and mathematical models are interconnected through bridges. The bridge consists of a physical device agent and a time management module. The physical device agent reads the physical clock of the physical device and transmits it to the time management module; reads the data of the physical device and sends it to the wrapper of other mathematical models that order this data, and the wrapper calls the interface of the model and passes it to the model. The model wrapper and physical device agent send the data that needs to be visualized to the visualization node through the visualization interface. The visual interface is based on some object classes and interaction classes of HLA.

The mathematical model in the present invention is compiled according to a unified interface. The unified model interface includes 5, which can initialize the model; input and output the event, time and data of the model; output the debugging information that the model needs to output, etc. The specific interface is defined as follows (IN and OUT represent parameter types, IN represents input parameters, OUT represents output parameters, and IN and OUT are followed by parameter names):

(1) Initialization interface InitModel (IN initFile): To initialize the model, you can specify the initialization file initFile for the model, and the model reads the initialization file to initialize the model.

(2) Receive event interface Receivelnteraction(IN t, IN interaction): Input the event received by the model, the parameter t is the time point when the event is received, and the interaction is the received event data.

(3) Send event interface Sendlnteraction(IN t, OUT interaction): output the event to be output by the model, parameter t is the time point when the event is sent, and interaction is the event data to be output by the model.

(4) Advancement interface GoStep(IN&&OUT t, IN inObjs, OUT outObj): The model advances one step further. The parameter t is an input parameter before the interface is called, and it is passed in the time point of the advance. After the call, it is an output parameter, and the value is the next The time point when the time request is advanced; inObjs is other model data required by the model (it can be the data of one model, or the data of multiple models); outObj is the output data of the model.

(5) View debugging information interface DebugMessage(OUT message): call this interface to output the output information inside the model, you can view the internal operation of the model and debug the model, and message is the output information of the model.

The model wrapper in the present invention packs the above-mentioned mathematical model with a unified interface, calls each interface of the model and is responsible for the information transmission between the model and other models through the service interface of the communication middleware, and its implementation is shown in Figure 2 . Firstly, the scenario file of the model is analyzed, and the basic information of the model is obtained, including: model name, model initialization file, path of the model file, and published order relationship between the model and other models. Load the model dynamic link library according to the path of the model, call the initialization interface InitModel to initialize the model, call the service interface of the RTI network (that is, the HLA service interface) to create a federation, and join the federation. Publish and order the corresponding object classes and interaction classes according to the information obtained by analyzing the scenarios, and register object instances. The wrapper stores the time sent by the time management module in a queue. When judging whether the time is advancing, it first judges whether there is time in the queue. If so, compares whether the application time of the model matches the current advancing time. If it matches, judges whether the model has received other The event of the model (the event of the model is realized by the interactive class of the communication middleware. When the model receives the interactive class sent by other models, the middleware will call the callback function to notify), if there is an interactive class input, call the receiving event interface ReceiveInteraction will interact Class data is passed to the model. Next, call the advance interface GoStep to advance the model calculation, and return the next request time point and the output data after the model advances through this interface. And send the request time to the time management module through the HLA service interface, and send the output data of the model to other models and visualization nodes. Then call the model sending event interface SendInteraction to judge whether there is any interactive class output, and if so, call the RTI service interface to send the interactive class to other models. After calling each interface of the model, you can call the debug information interface DebugMessage to view the debug information output by the model. Finally, judge whether the test is over, if not, continue to judge the time advance; if it is over, exit and destroy the federation.

The bridge of the present invention is composed of a physical device agent and a time management module. The physical device agent is responsible for forwarding the data of the physical device to the mathematical model. It consists of a data reading module and a simulation module. The data reading module reads the data of the physical device; the simulation module forwards the read data. The implementation of physical device proxy is shown in Figure 3. First, analyze the scenario file to obtain the relationship between the proxy physical device and other models and the basic information of the entire experiment, then create a federation, join the federation, publish and order the corresponding object class and interaction class, and send Initialize the interaction class to the visualization node, and then start the data reading module and the simulation module.

In order to improve the concurrency capability, the data reading module is a separate thread. The implementation of the data reading module is shown in Figure 4. After the thread is started, first open the VMIC board and initialize the board.

Next, poll the flag bit to check whether the physical device has new data, if so, read the data and store it, and reset the flag bit at the same time. The read data is divided into two categories, one is the physical clock of the physical device, and the other is the real-time data of the physical device at each time point. The data reading module uses two data structures to store data. The physical clock is stored in a queue called the system time queue, and the data at each time point is stored in an index, which is convenient for the simulation module to obtain the data of the physical device at a constant time when the time advances.

The implementation of the simulation module is shown in Figure 5. At the beginning, if the federation does not exist, create the federation, then join the federation, send the initialization interaction class to the visualization node, and let the 3D visualization node complete the initialization work. The time management module judges whether to advance, and if it advances, it will take the new data of the physical equipment from the index and send it to other model and visualization nodes. Detect the real-time data of the physical equipment to judge whether there is an event. If so, send the interaction class to other models and send the performance interaction class to the 3D visualization node to display the effect; finally judge whether the test is over, if it is over, exit the federation and destroy the federation.

The time management module reads the system time queue of the data reading module, receives the time requests sent by each model wrapper, and stores each time point in the priority queue called the request queue. The process of judging whether to advance is shown in Figure 6. First judge whether the request queue is empty, if it is not empty, then judge whether the system time queue is empty, if not empty, it indicates that the physical equipment has started to advance and each mathematical model has begun to request time. Then take out the system time and request time. The request time is stored in the priority queue, which ensures that the request time taken out each time is the minimum value, and the time advances according to the minimum step size of each model. Determine whether the request has been sent before the time point, and if it has been sent, the request time queue will be dequeued. If it is not sent, judge whether the system time is greater than or equal to the request time, and if so, advance the current request time point. If the request queue is empty and the system time queue is not, advance the current system time point.

The visual interface is a collection of some object classes and interaction classes. The simulation modules of the model wrapper and the physical device proxy publish these object classes and interaction classes, and the 3D visualization nodes subscribe to these object classes and interaction classes. The data information of the mathematical model and physical equipment, such as coordinates and attitude information, is transmitted to the visualization node through RTI in the form of object classes; the event information of mathematical models and physical equipment, such as separation and explosion, is transmitted to the visualization node in the form of interactive classes through RTI node. Multiple object classes can be defined as required, and the attributes of each object class can be customized, but must be consistent with the object class defined by the visualization node. Only one interaction class is defined. For general use, only one parameter of the interaction class is set. When RTI is transmitted, the specific transmission content (such as event type and event-related data) is passed through this parameter.

The entire system execution process of the present invention is shown in FIG. 7 . At the beginning, the visualization node is started, and the nodes of each deployment model wrapper and physical device agent are started. The real device agent and the model wrapper send the initialization interaction class to the visualization node, and the visualization node initializes each entity and waits for the experiment to start. After the physical device starts to operate, write the physical time and real-time data into the real-time shared memory network. The data reading module of the real device agent reads time and device data for caching. The time management module reads the cached physical time, sends the time to each model wrapper and receives the feedback request time and stores it in a priority queue, and at the same time sends the simulation time to the visualization node. The physical equipment agent sends the real-time data of the physical object to the model wrapper, and each model wrapper cyclically calls each interface of the mathematical model to advance, transmits the physical equipment data to each model, and obtains the output data of the model and then transmits it to other models. At the same time send the request time of the model to the time manager. In this process, the physical device agent and the model wrapper send the data and effects to be visualized to the visualization node through the visualization interface, and the visualization node performs three-dimensional display. Iterating in this way, the time and data of the physical equipment are used to drive the operation of the entire test until the end of the 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:

Said each mathematical model has unified interface;

It is integrated that said 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;

Said 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 the device data in kind on the Real-Time Sharing internal memory net (VMIC), the service interface through the RTI net sends to the online and mathematical model of RTI with data to carry out alternately;

The time management module of said 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, and pushes away after the further completion 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 simultaneously is stored in the Request Priority formation; 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;

Said 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: said 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 following, and wherein IN and OUT represent parameter type, and IN represents input parameter, and OUT represents output parameter, and IN and OUT are parameter name at the back:

(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 ReceiveInteraction (IN t, IN interaction): being used for the incident that the inputting mathematical model receives, is the time point when receiving incident comprising parametric t; Interaction is the event data of receiving;

(3) send event interface SendInteraction (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&&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, call the back and be output parameter, be worth for next asks the time point that advances constantly; InO bjs 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 this interface and can export the inner output information of mathematical model, 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 said model wrapper: the file that prefers of at first resolving mathematical model; Obtain the essential information of mathematical model, the path of mathematical model file and the announcement order relations of mathematical model and other mathematical model, the path loading mathematical model dynamic link library according to mathematical model calls initialization interface InitModel initialization mathematical model; Calling the service interface of RTI net creates federal; Add federation, prefer the information announcement and corresponding object class of order and interactive class, registry object instance that file obtains according to parsing; The time that the time management module is sent is used queue stores; Whether free judge in the formation earlier when whether judgement time advances; If had relatively the request time of mathematical model whether mate with the current propelling time; If the coupling would judge whether mathematical model receives the incident of other mathematical model; If having interactive class input to call to receive event interface ReceiveInteraction gives mathematical model with the interactive class data transfer, next call and advance interface GoStep to let calculated with mathematical model push ahead, and return next request time point and mathematical model through this interface and push away the output data after further; And request time is sent to the time management module through 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 SendInteraction 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: said 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 said 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 types, and one type 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 said emulation module is: if federation does not exist then creates federally during beginning, then add federally, send the initialization interactive class for visual node, accomplish the initial work of equipment in kind; The time management module judges whether to advance, if advance then the new data of from index, getting equipment in kind sends to other mathematical model and visual node; The real time data that detects equipment in kind has judged whether that incident sends, if having then send interactive class and give other mathematical model and send the performance interactive class and give 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 said 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 following:

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 through 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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