CN109214129B - LVC simulation fault tolerance method based on virtual-real substitution under limited network condition - Google Patents
LVC simulation fault tolerance method based on virtual-real substitution under limited network condition Download PDFInfo
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Abstract
A LVC simulation fault tolerance method based on virtual-real substitution under the limited network condition comprises the following steps: 1) Three failure modes are defined for a 'real object' and a 'semi-physical object' in the LVC simulation application system respectively; 2) The running control system detects the states of the real object and the semi-physical object, and when a super frame event occurs, the LVC simulation application system processes according to the pre-estimated fault tolerance mode of super frame failure; 3) If the super frame count reaches the upper limit of the system error tolerance, starting a virtual-real replacement fault-tolerant mechanism, and replacing a 'real object', 'semi-physical object' with a mathematical simulation model; 4) If the system returns to normal after a period of time after replacement, the system exits the virtual-real replacement mechanism; if the model is not recovered to be normal after replacement, permanent failure is considered to occur, and the mathematical simulation model permanently replaces the corresponding "real object" and "semi-physical object".
Description
Technical Field
The invention relates to an LVC simulation fault-tolerant method under a limited network condition based on virtual-real displacement, and belongs to the technical field of simulation.
Background
LVC simulation is a simulation in which real (live), virtual (Virtual), and Construct (Construct) are combined. The realization of LVC simulation requires the realization of bottom communication based on a distributed simulation supporting framework, and the encapsulation and integration of heterogeneous simulation resources are realized by adopting the technologies of a gateway, an adapter, a wrapper and the like. LVC systems require that the simulation system must follow 1:1 clock speed advance. A typical LVC architecture abroad is TENA, and VITA, josim and the like exist in China.
Compared with a semi-physical simulation system and a mathematical simulation system, the network communication condition of the LVC joint simulation system is extremely complex, and a unified and reliable training network is often lacked. The access of the real installation generally depends on a data link system, so that the problem of unreliable and uncontrollable connection exists; there is inevitably a large communication delay between various test systems in different places.
The constraint communication condition is mainly characterized in that the heterogeneous link delay is highly uncontrollable, and the inter-network-segment delay is severely constrained by the spatial distance. Aiming at the problem that heterogeneous links are possibly broken, enough fault-tolerant mechanisms must be designed to ensure that the operation of a logic range is as little affected as possible.
Disclosure of Invention
The technical problems to be solved by the invention are as follows: the defects of the prior art are overcome, and the LVC simulation fault tolerance method based on virtual-real substitution under the limited network condition is provided, so that the problem of overall system failure caused by failure of a 'real object' and a 'semi-physical object' in the LVC simulation system is effectively solved.
The technical scheme of the invention is as follows: a LVC simulation fault tolerance method based on virtual-real substitution under the limited network condition comprises the following steps:
1) Aiming at the LVC simulation application system, three failure modes of superframe failure, recoverable failure and permanent failure are respectively defined for a 'real object' and a 'semi-physical object' in the LVC simulation application system;
2) In the running process of the LVC simulation application system, the running control system detects the states of the real object and the semi-physical object, and when a super frame event occurs, the real object or the semi-physical object is considered to have faults, and the LVC simulation application system processes according to the pre-estimated fault-tolerant mode of super frame failure;
3) If the super frame count reaches the upper limit of the system error tolerance, the restorable fault is considered to be invalid, a virtual-real replacement fault-tolerant mechanism is started, and a mathematical simulation model is used for replacing a 'real object' and a 'semi-physical object' with communication faults;
4) If the mathematical simulation model is used for replacing the 'real object' and the 'semi-physical object', the system exits the virtual-real replacement mechanism and the original 'real object' and 'semi-physical object' are restored and accessed, so that the whole system operates normally; if the 'real object' and the 'semi-physical object' are not recovered to be normal after a period of time, permanent failure is considered to occur, and the mathematical simulation model permanently replaces the corresponding 'real object' and the 'semi-physical object'.
The "real object" and "semi-physical object" in the step 1) define three basic failure modes, and specifically define as follows:
2.1, the first type of superframe failure refers to a superframe updated by real-time system information caused by the limitation of communication network conditions;
2.2, the second type of recoverable failure refers to failure of a 'real object' and a 'semi-physical object' caused by failure of a real assembly adaptation terminal or a semi-physical simulation equipment gateway or network communication, and the related object has access conditions again after the related equipment is restarted;
2.3, the third class of permanent failure refers to serious faults of the 'real object' and the 'semi-physical object', and cannot be recovered in the whole LVC simulation test training process.
The operation control system provides registration management of the simulation object and monitoring service of node operation state; the registration management refers to the management of the type of the simulation object, the information interaction relation and the network address of the physical host; the node running state refers to inquiring the current logic time of the node.
The method for detecting the superframe event in the step 2) is based on the last updated logic time judgment of the simulation object, and the judgment basis is whether the difference value between the last updated logic time and the current system time exceeds the average simulation step length of the simulation object.
The pre-estimated fault-tolerant mode of superframe failure in the step 2) refers to using an object model to define a proxy model consistent with the replaced simulation object, replacing the simulation object of the superframe, performing cubic spline curve fitting on continuous state data of the simulation object based on historical data, and extrapolating to the current system time; other discrete state variables remain unchanged from the original state value.
The mathematical simulation model in the step 3) is a mathematical simulation model which has the same object model statement as the corresponding 'real object', 'semi-physical object', and has corresponding function simulation capability.
And 3) if the superframe count reaches the upper limit of the system error tolerance, the difference between the last updated logic time of the simulation object and the current system time exceeds twice the average simulation step length of the simulation object.
The virtual-real displacement fault-tolerant mechanism in the step 3) refers to that a virtual force mathematical model consistent with a replaced simulation object is utilized to replace the simulation object, and meanwhile, updating of the replaced model in a mode of fitting estimation is stopped; if the virtual-real replacement mechanism is not triggered to exit in the later period, the simulation object is replaced by the virtual force mathematical model until the simulation is finished.
The step 4) of exiting the virtual-real replacement mechanism refers to that an operator who installs an object and semi-physical objects puts forward a recovery application to the LVC simulation running control system, and the operator requires the object to be reinitialized in a manual scheduling mode and finally rejoins the LVC simulation system.
The LVC simulation system is a simulation combining real, virtual and constructed Construct, realizes bottom-layer communication based on a distributed simulation support framework, and adopts gateway, adapter and wrapper technologies to realize the encapsulation and integration of heterogeneous simulation resources such as 'real object', 'semi-real object', 'mathematical simulation object', and the like; the operation of the LVC simulation system is advanced according to a simulation clock speed consistent with the true time.
The distributed simulation support framework refers to a LVC simulation middleware of a TENA class, an object model is adopted as a communication semantic basis, and interoperability among simulation objects is realized through anonymous publishing and subscribing and remote method calling.
Compared with the prior art, the invention has the beneficial effects that:
by adopting the fault-tolerant counting technical scheme based on virtual-real displacement, the running fault-tolerant function in the limited network environment is achieved, and the overall reliability of the LVC simulation application system is improved.
(1) The problem of overall system failure caused by failure of the 'real object' and the 'semi-physical object' in the LVC simulation system is effectively solved, the fault tolerance of the system is effectively improved, and a large amount of simulation test cost and pilot tone interruption can be saved.
(2) And adopting a fitting pre-estimated mode to perform fault tolerance processing on the failure of the unreliable network superframe, and coping with superframe errors caused by unstable delay of most wireless networks.
(3) The virtual force is adopted to replace the 'real object' and the 'semi-physical object' of the long-time super frame, so that simulation interruption caused by the object faults is avoided, interference to other 'real objects' and 'semi-physical objects' is reduced, a mechanism for re-adding a simulation process after fault recovery is provided, and LVC simulation benefits can be maximized.
Drawings
FIG. 1 is a schematic diagram of a fault tolerant process according to the present invention.
Detailed Description
The invention is described in further detail below in connection with fig. 1 and the specific embodiment:
aiming at the characteristics of the LVC system, three failure modes of superframe failure, recoverable failure and permanent failure are respectively defined for a 'real object' and a 'semi-physical object'.
In the running process of the LVC system, the running control system detects the super frame event of the 'real object' and the 'semi-physical object', and processes the super frame event according to the pre-estimated fault tolerance mode of super frame failure. Such failures typically last for only a few simulation cycles and after communication resumes, data for the relevant frame may still be acquired.
If the superframe reaches the upper limit of the system error tolerance, then the optimistic estimate considers that a recoverable failure has occurred, which often recovers after a time delay of the order of minutes. At this time, a virtual-real displacement fault-tolerant mechanism is started, so that the normal operation of the system is ensured.
If the 'real object' and the 'semi-physical object' recover to be normal after a period of time, the system exits the virtual-real replacement mechanism and the 'real object' and the 'semi-physical object' are recovered to be accessed. Permanent failure is considered to occur if the "real object" and "semi-physical object" remain unrecovered after a period of time.
The method comprises the following specific steps:
1) Aiming at the LVC simulation application system, three failure modes of superframe failure, recoverable failure and permanent failure are respectively defined for a 'real object' and a 'semi-physical object' in the LVC simulation application system;
2) In the running process of the LVC simulation application system, the running control system detects the states of the real object and the semi-physical object, and when a super frame event occurs, the real object or the semi-physical object is considered to have faults, and the LVC simulation application system processes according to the pre-estimated fault-tolerant mode of super frame failure;
3) If the super frame count reaches the upper limit of the system error tolerance, the restorable fault is considered to be invalid, a virtual-real replacement fault-tolerant mechanism is started, and a mathematical simulation model is used for replacing a 'real object' and a 'semi-physical object' with communication faults;
4) If the mathematical simulation model is used for replacing the 'real object' and the 'semi-physical object', the system exits the virtual-real replacement mechanism and the original 'real object' and 'semi-physical object' are restored and accessed, so that the whole system operates normally; if the 'real object' and the 'semi-physical object' are not recovered to be normal after a period of time, permanent failure is considered to occur, and the mathematical simulation model permanently replaces the corresponding 'real object' and the 'semi-physical object'.
The "real object" and "semi-physical object" in the step 1) define three basic failure modes, and specifically define as follows:
2.1, the first type of superframe failure refers to a superframe updated by real-time system information caused by the limitation of communication network conditions;
2.2, the second type of recoverable failure refers to failure of a 'real object' and a 'semi-physical object' caused by failure of a real assembly adaptation terminal or a semi-physical simulation equipment gateway or network communication, and the related object has access conditions again after the related equipment is restarted;
2.3, the third class of permanent failure refers to serious faults of the 'real object' and the 'semi-physical object', and cannot be recovered in the whole LVC simulation test training process.
The operation control system provides registration management of the simulation object and monitoring service of node operation state; the registration management refers to the management of the type of the simulation object, the information interaction relation and the network address of the physical host; the node running state refers to inquiring the current logic time of the node.
The method for detecting the superframe event in the step 2) is based on the last updated logic time judgment of the simulation object, and the judgment basis is whether the difference value between the last updated logic time and the current system time exceeds the average simulation step length of the simulation object.
The pre-estimated fault-tolerant mode of superframe failure in the step 2) refers to using an object model to define a proxy model consistent with the replaced simulation object, replacing the simulation object of the superframe, performing cubic spline curve fitting on continuous state data of the simulation object based on historical data, and extrapolating to the current system time; other discrete state variables remain unchanged from the original state value.
The mathematical simulation model in the step 3) is a mathematical simulation model which has the same object model statement as the corresponding 'real object', 'semi-physical object', and has corresponding function simulation capability.
And 3) if the superframe count reaches the upper limit of the system error tolerance, the difference between the last updated logic time of the simulation object and the current system time exceeds twice the average simulation step length of the simulation object.
The virtual-real displacement fault-tolerant mechanism in the step 3) refers to that a virtual force mathematical model consistent with a replaced simulation object is utilized to replace the simulation object, and meanwhile, updating of the replaced model in a mode of fitting estimation is stopped; if the virtual-real replacement mechanism is not triggered to exit in the later period, the simulation object is replaced by the virtual force mathematical model until the simulation is finished.
The step 4) of exiting the virtual-real replacement mechanism refers to that an operator who installs an object and semi-physical objects puts forward a recovery application to the LVC simulation running control system, and the operator requires the object to be reinitialized in a manual scheduling mode and finally rejoins the LVC simulation system.
The LVC simulation system is a simulation combining real, virtual and constructed Construct, realizes bottom-layer communication based on a distributed simulation support framework, and adopts gateway, adapter and wrapper technologies to realize the encapsulation and integration of heterogeneous simulation resources such as 'real object', 'semi-real object', 'mathematical simulation object', and the like; the operation of the LVC simulation system is advanced according to a simulation clock speed consistent with the true time.
The distributed simulation support framework refers to a LVC simulation middleware of a TENA class, an object model is adopted as a communication semantic basis, and interoperability among simulation objects is realized through anonymous publishing and subscribing and remote method calling.
An LVC emulation application system comprising two instances is illustrated using the VITA middleware, i.e., virtual experiment verification enabling architecture. The LVC simulation application system comprises a real tank object and a mathematical simulation tank model object. The two objects have the same object model, wherein the precision, latitude and height of the object are declared by using a geodetic coordinate system, and the object model is manufactured by double type variable and SI unit.
The real tank object adopts a wireless network and a mathematical simulation tank model object LVC simulation application system. All tank objects are packaged into application programs based on middleware and are distributed on computers of the test sub-network to run. The two application programs respectively run on the packaging adapter and the mathematical simulation computer, are all computer systems with an x86 architecture, and support tcp/ip communication. The mounting adapter adopts a vehicle-mounted power supply device and is provided with a satellite positioning module, so that the position information of the mounting adapter can be obtained. The application programs of the two objects release own position information for other application programs to subscribe, wherein the real tank object releases the position information acquired by the satellite positioning module, and the mathematical simulation tank object releases the mathematical simulation position information.
In operation, wireless communication of the real tank object fails. The fault tolerance process is shown in fig. 1.
At the moment T, wireless communication fails, the last updated logic time of the real tank is T, and the average simulation step length is T. At the time T+t, the mathematical simulation tank model object cannot acquire the subscribed real tank position information, a super frame fault tolerance mechanism is triggered, and then the simulation entity is replaced by a proxy model re-registration mode.
The agent model utilizes the historical data of the simulation entity to perform cubic spline curve fitting on the continuous state variable of the entity, extrapolates and calculates the value of the continuous state variable of the simulation entity at the moment of T+t in an estimated mode, and distributes the value to a mathematical simulation entity in the LVC simulation application system.
At time t+2t, the real tank has not recovered communication yet. The agent model carries out the second state estimation and develops the state, and meanwhile, the mathematical simulation model isomorphic with the real tank is adopted to replace the real tank for simulation operation.
After a period of time, the communication fault of the real tank is repaired, then a person of the train set obtains the ID and the ip address of the proxy model through the middleware monitoring system, and sends a recovery application to the proxy model, and the train set is contracted to recover operation at the moment T+R. The proxy model sends the position requirement at time t+r to the consist. The consist is reinitialized as required to the designated location. The agent model detects the state of the train set at the moment T+R, if the state is normal, the train set is restored to operate, the agent model terminates operation, and if the state is abnormal, the train set is restored to operate at the moment T+2R.
What is not described in detail in the present specification belongs to the known technology of those skilled in the art.
Claims (9)
1. A LVC simulation fault tolerance method based on virtual-real substitution under the limited network condition is characterized by comprising the following steps:
1) Aiming at the LVC simulation application system, three failure modes of superframe failure, recoverable failure and permanent failure are respectively defined for a 'real object' and a 'semi-physical object' in the LVC simulation application system;
2) In the running process of the LVC simulation application system, the running control system detects the states of the real object and the semi-physical object, and when a super frame event occurs, the real object or the semi-physical object is considered to have faults, and the LVC simulation application system processes according to the pre-estimated fault-tolerant mode of super frame failure;
3) If the super frame count reaches the upper limit of the system error tolerance, the restorable fault is considered to be invalid, a virtual-real replacement fault-tolerant mechanism is started, and a mathematical simulation model is used for replacing a 'real object' and a 'semi-physical object' with communication faults;
4) If the mathematical simulation model is used for replacing the 'real object' and the 'semi-physical object', the system exits the virtual-real replacement mechanism and the original 'real object' and 'semi-physical object' are restored and accessed, so that the whole system operates normally; if the 'real object' and the 'semi-physical object' are not recovered to be normal after a period of time, permanent failure is considered to occur, and the mathematical simulation model permanently replaces the corresponding 'real object' and the 'semi-physical object';
the "real object" and "semi-physical object" in the step 1) define three basic failure modes, and specifically define as follows:
2.1, the first type of superframe failure refers to a superframe updated by real-time system information caused by the limitation of communication network conditions;
2.2, the second type of recoverable failure refers to failure of a 'real object' and a 'semi-physical object' caused by failure of a real assembly adaptation terminal or a semi-physical simulation equipment gateway or network communication, and the related object has access conditions again after the related equipment is restarted;
2.3, the third class of permanent failure refers to serious faults of the 'real object' and the 'semi-physical object', and the third class of permanent failure cannot be recovered in the whole LVC simulation test training process;
the pre-estimated fault-tolerant mode of superframe failure in the step 2) refers to using an object model to define a proxy model consistent with the replaced simulation object, replacing the simulation object of the superframe, performing cubic spline curve fitting on continuous state data of the simulation object based on historical data, and extrapolating to the current system time; other discrete state variables remain unchanged from the original state value.
2. The LVC simulation fault-tolerant method under a limited network condition based on virtual-real permutation according to claim 1, wherein the LVC simulation fault-tolerant method is characterized in that: the operation control system provides registration management of the simulation object and monitoring service of node operation state; the registration management refers to the management of the type of the simulation object, the information interaction relation and the network address of the physical host; the node running state refers to inquiring the current logic time of the node.
3. The LVC simulation fault-tolerant method under a limited network condition based on virtual-real permutation according to claim 1, wherein the LVC simulation fault-tolerant method is characterized in that: the method for detecting the superframe event in the step 2) is based on the last updated logic time judgment of the simulation object, and the judgment basis is whether the difference value between the last updated logic time and the current system time exceeds the average simulation step length of the simulation object.
4. The LVC simulation fault-tolerant method under a limited network condition based on virtual-real permutation according to claim 1, wherein the LVC simulation fault-tolerant method is characterized in that: the mathematical simulation model in the step 3) is a mathematical simulation model which has the same object model statement as the corresponding 'real object', 'semi-physical object', and has corresponding function simulation capability.
5. The LVC simulation fault-tolerant method under a limited network condition based on virtual-real permutation according to claim 1, wherein the LVC simulation fault-tolerant method is characterized in that: and 3) if the superframe count reaches the upper limit of the system error tolerance, the difference between the last updated logic time of the simulation object and the current system time exceeds twice the average simulation step length of the simulation object.
6. The LVC simulation fault-tolerant method under a limited network condition based on virtual-real permutation according to claim 1, wherein the LVC simulation fault-tolerant method is characterized in that: the virtual-real displacement fault-tolerant mechanism in the step 3) refers to that a virtual force mathematical model consistent with a replaced simulation object is utilized to replace the simulation object, and meanwhile, updating of the replaced model in a mode of fitting estimation is stopped; if the virtual-real replacement mechanism is not triggered to exit in the later period, the simulation object is replaced by the virtual force mathematical model until the simulation is finished.
7. The LVC simulation fault-tolerant method under a limited network condition based on virtual-real permutation according to claim 1, wherein the LVC simulation fault-tolerant method is characterized in that: the step 4) of exiting the virtual-real replacement mechanism refers to that an operator who installs an object and semi-physical objects puts forward a recovery application to the LVC simulation running control system, and the operator requires the object to be reinitialized in a manual scheduling mode and finally rejoins the LVC simulation system.
8. The LVC simulation fault-tolerant method under a limited network condition based on virtual-real permutation according to claim 1, wherein the LVC simulation fault-tolerant method is characterized in that: the LVC simulation system is a simulation combining real, virtual and constructional architecture, realizes bottom-layer communication based on a distributed simulation support architecture, and adopts gateway, adapter and wrapper technologies to realize the encapsulation and integration of heterogeneous simulation resources such as 'real object', 'semi-real object', 'mathematical simulation object' and the like; the operation of the LVC simulation system is advanced according to a simulation clock speed consistent with the true time.
9. The LVC simulation fault tolerance method under the constrained network condition based on virtual-real permutation according to claim 8, wherein the LVC simulation fault tolerance method is characterized in that: the distributed simulation support framework refers to a LVC simulation middleware of a TENA class, an object model is adopted as a communication semantic basis, and interoperability among simulation objects is realized through anonymous publishing and subscribing and remote method calling.
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