CN109814990A - A kind of distributed parallel collaborative simulation framework - Google Patents
A kind of distributed parallel collaborative simulation framework Download PDFInfo
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- CN109814990A CN109814990A CN201811582674.1A CN201811582674A CN109814990A CN 109814990 A CN109814990 A CN 109814990A CN 201811582674 A CN201811582674 A CN 201811582674A CN 109814990 A CN109814990 A CN 109814990A
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Abstract
The invention discloses a kind of distributed parallel collaborative simulation frameworks.The framework is interconnected with emulation flexible bus by defining an emulation flexible bus, each simulation software, and the data collaborative interaction between simulation software is completed by emulation flexible bus.The framework decomposes collaborative simulation task from two dimensions of room and time, to improve simulation efficiency, and supports more artificial tasks concurrently to execute simultaneously by the partitioning technique of emulation flexible bus.The framework carries out the concurrently execution of more artificial tasks of multi-user's foundation by design environment；Distributed computing, multinode interconnection are realized by the emulation flexible bus of foundation；Data interaction is carried out by the independent model interface of opposite simulation software and emulation flexible bus, to complete the cooperated computing of simulation software；Parallel synchronous is completed by emulation dispatch engine to resolve.
Description
Technical field
The present invention relates to simulation technical fields, and in particular to a kind of distributed parallel collaborative simulation framework.
Background technique
Existing Collaborative Simulation Environment be completed between Liang Ge simulation software by the customized agreement of software inhouse, though
Distributed collaboration artificial tasks so can be also completed, but design and emulation dispatch are completely dependent on simulation software, cannot achieve more
Artificial tasks carry out simultaneously and the collaboration of more simulation softwares, and it is also relatively difficult to carry out Function Extension to it.
Summary of the invention
In view of prior art situation and existing defect, the present invention provides a kind of distribution calculated for distributed emulation
Concurrent collaborative simulation framework.Distributed parallel collaborative simulation framework by define an emulation flexible bus, each simulation software with
Flexible bus interconnection is emulated, the data collaborative interaction between simulation software is completed by emulation flexible bus, with simulation software itself
Without coupled relation.The framework decomposes collaborative simulation task from two dimensions of room and time, to improve simulation efficiency, and
Partitioning technique by emulating flexible bus supports more artificial tasks concurrently to execute simultaneously.
The technical solution adopted by the present invention is that: a kind of distributed parallel collaborative simulation framework, which is characterized in that the emulation
Framework is divided into design of Simulation analysis environment and emulated computing environment, and design of Simulation analyzes environment and emulated computing environment is separator frame
Structure, design of Simulation analysis environment include for the simulation designing environment of artificial tasks design, for the imitative of simulation deployment and operation
True operational management environment and the Virtual Experiment Environment analyzed for data；Emulated computing environment includes N number of simulation computer, each
Simulation computer includes emulation secondary service module, simulation engine and simulation model；Collaboration library is wherein equipped with inside simulation model
Interface, simulation model call collaboration bank interface, and collaboration bank interface recalls emulation flexible bus api function, in this manner, imitate
True mode is connected with distributed emulation flexible bus；Simulation engine calls emulation flexible bus api function and distributed emulation soft total
Line is connected；Artificial tasks are deployed on N number of simulation computer by simulation run time management environment by emulation secondary service module；
Simulation engine and simulation model are all mounted on distributed emulation flexible bus.
Distributed emulation flexible bus inner part of the present invention are as follows: for completing the synchronous clock stream of model clock, being used for
The control stream for completing model state scheduling and the data flow for completing model data interaction, the clock stream of each artificial tasks,
Control stream, data flow form a data field；Wherein, control stream uses data using the control partition in data field, clock stream
Clock subregion in domain, data flow use the data subregion in data field；Three subregions are to separate between each other in data field
, isolation.
Each simulation computer of the present invention includes N number of simulation model, and each simulation model is by collaboration bank interface and imitates
The model that true software is established collectively constitutes；Simulation model has: AMESim simulation model, Simulink simulation model, C language emulation
Model and Matlab M file simulation model；AMESim simulation model includes model and AMESim collaborative interface library, Simulink
Simulation model includes model and S-func collaborative interface library, and C language simulation model includes model and C collaborative interface library, Matlab
M file simulation model includes model and C collaborative interface library.
Design principle of the invention: this distribution concurrent collaborative simulation framework includes design analysis environment and simulation calculation ring
Border.Design analysis environment includes design of Simulation module, simulation virtual test and simulation run time management module.Emulated computing environment by
Each simulation computer (simulation computing unit) and emulation secondary service module composition.Simulation computer is interconnected by Ethernet.Respectively
Simulation computer runs different simulation analysis software or program, such as Matlab M file, Simulink, AMESim, C/C++
(Matlab: business data software, M file: Matlab script interpretation language, Simulink:Matlab Visual Simulation Tools
Collection, AMESim: multidisciplinary field modeling and simulating of complex system platform, C: program general purpose computer language).These softwares or program
By collaborative simulation interface and emulation flexible bus connect, simulation engine is distributed on each simulation computer, by emulation flexible bus and
Collaborative simulation interface and simulation software or program carry out data interaction and emulation dispatch, complete distributed parallel collaborative simulation and appoint
Business.
Definition emulation flexible bus, is divided into three types for flexible bus internal data: control stream, clock stream and data flow.Control
System stream completes simulation engine to the node state scheduling task of simulation model；Clock stream is responsible for the transmission of clock data, main to complete to imitate
Clock synchronous task of the true engine to simulation model；Data flow completes the task of data interaction between simulation model.Flexible bus is answered
With the world OMG(Object Management Organization) propose DDS(Data distributing), different artificial tasks are placed in different domains
Execute, the control of same artificial tasks flowed, clock stream and data are banished and executed in different subregions, not same area and subregion it
Between be independent of each other, to complete the function of parallel and distributed simulation.
It defines simulation model and cooperates with bank interface, the external interaction data of simulation model is defined as collaboration bank interface, and fixed
The operation API(application programming interface of the adopted interface) function, simulation model and other emulation moulds are completed by these functions
The data interaction of type.The interface function is opposite with simulation software unrelated, but can also upgrade with simulation software.Different simulation softwares
As long as or program interface defines identical, identical api function may be used, without re-starting simulation configurations.Interface API letter
Number realizes data from simulation model to emulation flexible bus again to the transmitted in both directions process of simulation model, to realize different emulation
Data decoupler between software.
Emulation dispatch engine is defined, bank interface (collaboration is cooperateed with what simulation model called by emulation flexible bus api function
Emulation flexible bus API is called in bank interface) data communication is carried out, it carries out emulation dispatch and clock is synchronous, complete artificial tasks.It is imitative
True engine gives simulation model tranmitting data register by emulating flexible bus within each period of emulation, and simulation model is receiving clock
After signal, collaboration bank interface and other simulation software models is called to carry out data interaction, and return to model in the emulation cycle
Simulation time, this process in cycles, thus complete emulation the complete period collaboration.
Design of Simulation analysis environment is separated with emulated computing environment, and design environment is completed module design, model configuration, established
The function of artificial tasks, and artificial tasks are issued to by emulated computing environment by emulation supplementary module.Design environment can be simultaneously
Start the emulation dispatch engine of multiple artificial tasks, simulation run time management module is total by emulation flexible bus and simulation model interface
With completion simulation and calculation task.
The advantages of present invention designs is: 1, concurrently holding for more artificial tasks of multi-user's foundation is carried out by design environment
Row；2. realizing distributed computing, multinode interconnection by the emulation flexible bus established；3, pass through the opposite independent mould of simulation software
Type interface and emulation flexible bus carry out data interaction, to complete the cooperated computing of simulation software；4, complete by emulation dispatch engine
It is resolved at parallel synchronous.
Detailed description of the invention
Fig. 1 is distributed parallel collaborative simulation architecture diagram of the present invention；
Fig. 2 is that design of Simulation analyzes the architecture diagram that environment is separated with emulated computing environment in Fig. 1；
Fig. 3 is distributed emulation flexible bus interior design schematic diagram in Fig. 1 or Fig. 2；
Fig. 4 is multiple simulation model software collaboration schematic diagrames in Fig. 2；
Fig. 5 is emulation Softbus interface and the mutually indepedent schematic diagram of simulation software；
Fig. 6 is the schematic diagram of the invention applied in Mechatronic Systems real-time simulation platform；
Fig. 7 is the schematic diagram of the invention applied in bottom operation platform.
Specific embodiment
Below in conjunction with drawings and examples, the invention will be further described:
As depicted in figs. 1 and 2, distributed parallel collaborative simulation framework is divided into design of Simulation analysis environment and emulated computing environment,
Design of Simulation analyzes environment and emulated computing environment is separation architecture, and it includes designing for artificial tasks that design of Simulation, which analyzes environment,
Simulation designing environment, the simulation run time management environment for simulation deployment and operation and the virtual experimental ring for data analysis
Border；Emulated computing environment includes N number of simulation computer, and each simulation computer includes emulation secondary service module, simulation engine
And simulation model；Collaboration bank interface is wherein equipped with inside simulation model, simulation model calls collaboration bank interface, and collaboration bank interface is again
Emulation flexible bus api function is called, in this manner, simulation model is connected with distributed emulation flexible bus；Simulation engine
Emulation flexible bus api function is called to be connected with distributed emulation flexible bus；Simulation run time management environment passes through emulation auxiliary clothes
Artificial tasks are deployed on N number of simulation computer by business module；It is soft that simulation engine and simulation model are all mounted to distributed emulation
In bus.
Each simulation computer of distributed parallel collaborative simulation framework include N number of simulation model, each simulation model by
The model that collaboration bank interface and simulation software establish collectively constitutes；Simulation model has: AMESim simulation model, Simulink emulation
Model, C language simulation model and Matlab M file simulation model；AMESim simulation model includes that model and AMESim collaboration connect
Mouth library, Simulink simulation model include model and S-func collaborative interface library, and C language simulation model includes that model and C are cooperateed with
Interface library, Matlab M file simulation model include model and C collaborative interface library.
As shown in figure 3, distributed emulation flexible bus inner part are as follows: for completing the synchronous clock stream of model clock, being used for
The control stream for completing model state scheduling and the data flow for completing model data interaction, the clock stream of each artificial tasks,
Control stream, data flow form a data field；Wherein, control stream uses data using the control partition in data field, clock stream
Clock subregion in domain, data flow use the data subregion in data field；Three subregions are to separate between each other in data field
, isolation.
Design of Simulation analyzes environment and emulated computing environment is separated structure, and wherein simulation designing environment completes artificial tasks
Then artificial tasks are submitted to simulation run time management environment by design, simulation run time management environment carries out artificial tasks configuration, and
Artificial tasks are deployed to simulation computer 1 by emulation secondary service module ..., on simulation computer N.Before emulation starts,
Simulation run time management environment sends instruction to the emulation ancillary service program that resides on simulation computer, starting simulation engine and
Simulation model.At this point, simulation engine and simulation model have all been mounted on distributed emulation flexible bus, and by control stream, when
Clock stream and data stream are communicated.After emulation starts, under the control of simulation run time management environment, simulation engine passes through control
Stream carries out node state scheduling to simulation model, carries out clock drive to simulation model by clock stream, simulation model passes through data flow
Carry out data interaction.During simulation run, simulation run time management environment can run virtual test environment, pass through virtual test
Environment come analyze emulation flexible bus on data.
As shown in Fig. 2, distributed parallel collaborative simulation framework analyzes environment by design of Simulation and emulated computing environment forms,
And the two is separated structure.Design of Simulation analysis environment is usually located at Office Area, uses subscriber computer；Emulated computing environment is logical
It is frequently located in computer room, using dedicated simulation computer, while the subscriber computer of Office Area can also be used in emulated computing environment.
Design of Simulation analysis environment is made of simulation designing environment, simulation run time management environment and virtual test environment.It is imitative
True design environment completes design of Simulation function, simulation run time management environment completes simulation deployment and simulation run time management function, void
Quasi- experimental enviroment completes simulation analysis (simulation analysis is often referred to data monitoring and direct fault location) function.Simulation designing environment is imitated
True operational management environment and virtual test environment can be located on same subscriber computer, can also be located at different users
On computer.It is made of as shown in Fig. 2, design of Simulation analyzes environment several subscriber computers for being located at Office Area, wherein using
Family computer 1 runs design of Simulation and operational management environment, is responsible for design of Simulation, deployment and operational management function；Remaining n-1
Platform subscriber computer runs virtual test environment, is responsible for being monitored simulation model in simulation run and the function of direct fault location
Energy.
Emulated computing environment is made of the simulation computer cluster for being located at computer room, and quantity is typically larger than two.Simulation calculation
Machine includes emulation secondary service module, simulation engine and simulation model (collaboration bank interface is located inside simulation model).Emulation is opened
Before beginning, simulation run time management module is emulated by the emulation secondary service module deployment resided on every simulation computer first
In task to simulation computer, then passes through emulation secondary service module process starting emulation again by simulation run time management module and adjust
Spend engine and simulation model.After emulation starting, simulation run time management module is by emulation dispatch engine to the shape of artificial tasks
State is scheduled, such as operation, pause, recovery, stopping.During simulation run, emulation dispatch engine can be individually to emulation
All simulation models in task carry out clock drive, retransmit any instruction without simulation analysis design environment and carry out driving simulation
Operation；Emulation secondary service module can record the size of simulation model consumption resource in real time, such as CPU(central processing unit) utilization rate
With EMS memory occupation size.
Design of Simulation analysis environment and emulated computing environment separation framework make the operation of artificial tasks get rid of to
The occupancy of family computer, after simulation run, user can close design of Simulation analysis environment, other work be carried out, to imitative
After true completion, then opens design of Simulation analysis environment and check simulation result.
As shown in figure 4, more simulation softwares collaboration in distributed parallel collaborative simulation framework relies primarily on distributed emulation
The clock stream and data flow of flexible bus are realized.Distributed emulation flexible bus provides clock for clock stream and receives and dispatches api function (square
Icon), while reading and writing data api function (round icon) is provided for data flow.All receipts, reading function are barrage reception, send out, write
Function is asynchronous transmission.Simulation model calls flexible bus api function by calling collaboration bank interface, then by collaboration bank interface, leads to
This mode is crossed to realize the communication of simulation model Yu simulation engine and other simulation models.As shown in figure 4, simulation model 1
(AMESim simulation model) cooperates with bank interface to call flexible bus clock api function and data api function and distribution by AMESim
Formula emulates flexible bus communication, simulation model 2(Simulink simulation model) cooperate with bank interface to call software bus by S-func
Clock API and data API and emulation flexible bus communication, simulation model N(C simulation model or M file simulation model) it is cooperateed with by C
Bank interface calls flexible bus clock api function and data api function to communicate with distributed emulation flexible bus.
As shown in figure 4, emulation dispatch engine is supported to carry out cooperative scheduling to multiple simulation models simultaneously.It is emulated with n-th
For period, simulation model calls clock to receive api function obstruction and waits clock signal, simulation engine tune by collaboration bank interface
Api function is sent in Tn moment tranmitting data register signal to simulation model with flexible bus clock, then clock is called to receive api function
Barrage reception simulation model clock feedback；Simulation model unblocks after receiving clock signal, calls flexible bus reading and writing data API
Function obtains from emulation flexible bus and sends data, and each simulation model completes data interaction at this time, and then simulation model is adjusted again
Api function tranmitting data register feedback signal is sent with flexible bus clock.It is assumed that simulation model is respectively in Tn+s0, Tn+s1 ..., Tn+
(s0, s1 ..., sm and both greater than 0 is less than simulation step length T), then simulation engine can be not late for sm moment tranmitting data register feedback signal
In Tn+max (s0, s1 ..., the sm) moment, the simulation model collaborative simulation overall process in Tn period is completed.In the process, by
AMESim, Simulink, C language are as the simulation model implementation procedure that M file is established.
The CommAPI that emulation flexible bus provides mainly includes control scheduling api function, clock transmitting-receiving api function and data
Read and write api function.This three groups of api functions are all based on the encapsulation of standard C function, can be by mainstream simulation tool software, such as
AMESim, Matlab/Simulink are called.
As shown in figure 5, the CommAPI that distributed emulation flexible bus provides mainly includes control scheduling api function, clock receipts
Send out api function and reading and writing data api function.This three groups of api functions are all based on the encapsulation of standard C function, can be emulated by mainstream
Tool software, as AMESim, Matlab/Simulink are called.
Distributed parallel collaborative simulation framework is collaboration bank interface (AMESim the collaboration bank interface, S- that simulation software provides
Func collaboration bank interface and C cooperate with bank interface) it is all based on the respective api function exploitation of simulation software, it can be with simulation software liter
Grade and upgrade.Each collaboration bank interface can upgrade with simulation software and be upgraded, and three groups of api functions that flexible bus provides are fixed
Interface function, without upgrading.Therefore not the case where simulation model is not available because of the variation of simulation software version.
Embodiment 1: as shown in fig. 6, Mechatronic Systems real-time simulation platform uses distributed parallel collaborative simulation framework.
It is upper to analyze environment for design, it include 1 design of Simulation operational management computer, 9 virtual test computers；Bottom is emulation
Environment is calculated, is made of 12 simulation computers.User can in design analysis environment design and simulation task, and by artificial tasks
It is deployed to lower emulated computing environment and carries out simulation and calculation.Artificial tasks are usually by simulation software (AMESim, Simulink and C/C+
+) simulation model built composition, the problem of being related to the emulation of multi-field more software collaborations.
Embodiment 2: as shown in fig. 7, bottom operation platform uses distributed parallel collaborative simulation framework.Upper office is
Multi-user designs and develops environment, and the next simulation calculation laboratory is emulated computing environment.Each user of office can be simultaneously
Row carries out artificial tasks design, deployment, operational management and monitoring, and emulation meter all in simulation calculation laboratory can be used
Calculation machine.The simulation computer operation Matlab M file simulation model and C language simulation model in simulation calculation laboratory.It is all imitative
The clock of true mode is synchronous all to be completed by running simulation engine on certain simulation computer in simulation calculation laboratory, simulation model
Data interaction by collaborative simulation interface call flexible bus api function complete.
Distributed emulation calculating decomposes an artificial tasks to be completed on different computing computers, can be negative with EQUILIBRIUM CALCULATION FOR PROCESS
It carries；It is multiple submodule and data interaction interface that parallel artificial, which is calculated model decomposition, is calculated by modular concurrent and data are handed over
Mutually accelerate calculating speed；Collaborative simulation is to be crosslinked the simulation software of different field (mechanical, electrical, hydraulic etc.) or program
(physical system usually has multi-field attribute, so analogue system also necessarily multi-field model crosslinking), on simulation clock
It runs simultaneously and carries out data interaction.
Distributed parallel Calculation of PM BLDCM Performance Based is by the spatially distributed operation of a collaborative simulation task, in time
It is parallel to resolve.This implementation method not only takes full advantage of computing resource but also accelerates simulation and calculation speed, for while into
The multiple collaborative simulation tasks of row are to complete ancillary works system design analysis with very important realistic meaning.
Claims (3)
1. a kind of distributed parallel collaborative simulation framework, which is characterized in that the simulation framework is divided into design of Simulation analysis environment
And emulated computing environment, design of Simulation analyzes environment and emulated computing environment is separation architecture, and design of Simulation analysis environment includes
Simulation designing environment for artificial tasks design, the simulation run time management environment for simulation deployment and operation and it is used for data
The Virtual Experiment Environment of analysis；Emulated computing environment includes N number of simulation computer, and each simulation computer includes emulation auxiliary clothes
Business module, simulation engine and simulation model；Collaboration bank interface is wherein equipped with inside simulation model, simulation model calls collaboration library to connect
Mouthful, collaboration bank interface recalls emulation flexible bus api function, and simulation model is connected with distributed emulation flexible bus；Emulation is drawn
Calling emulation flexible bus api function is held up to be connected with distributed emulation flexible bus；Simulation run time management environment passes through emulation auxiliary
Artificial tasks are deployed on N number of simulation computer by service module；Simulation engine and simulation model are all mounted to distributed emulation
On flexible bus.
2. a kind of distributed parallel collaborative simulation framework according to claim 1, which is characterized in that the distributed emulation
Flexible bus inner part are as follows: for completing the synchronous clock stream of model clock, for completing the control stream and use that model state is dispatched
In the data flow for completing model data interaction, the clock stream of each artificial tasks, control stream, data flow form a data field；
Wherein, control stream uses data using the clock subregion in data field, data flow using the control partition in data field, clock stream
Data subregion in domain；Three subregions are separated, isolation between each other in data field.
3. a kind of distributed parallel collaborative simulation framework according to claim 1, which is characterized in that each emulation meter
Calculation machine includes N number of simulation model, and each simulation model is collectively constituted by the model that collaboration bank interface and simulation software establish；Emulation
Model has: AMESim simulation model, Simulink simulation model, C language simulation model and Matlab M file simulation model；
AMESim simulation model includes model and AMESim collaborative interface library, and Simulink simulation model includes that model and S-func are cooperateed with
Interface library, C language simulation model include model and C collaborative interface library, and Matlab M file simulation model includes that model and C are cooperateed with
Interface library.
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| CN111177899A (en) * | 2019-12-16 | 2020-05-19 | 北京航天智造科技发展有限公司 | Multidisciplinary collaborative simulation method and system based on cloud platform |
| CN111507020A (en) * | 2020-05-12 | 2020-08-07 | 中国民航大学 | Graphical display method for distributed simulation results of electromechanical systems of multi-electric aircraft |
| CN111859638A (en) * | 2020-07-06 | 2020-10-30 | 中国人民解放军海军航空大学航空作战勤务学院 | Real-time efficient distributed virtual-real combined simulation system and construction method |
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| CN111897767A (en) * | 2019-09-17 | 2020-11-06 | 上海森首科技股份有限公司 | Operating system based on object language chip |
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| CN113255116A (en) * | 2021-05-11 | 2021-08-13 | 四川知周科技有限责任公司 | Splitting parallel simulation method for modeling of aircraft electromechanical system |
| CN113296423A (en) * | 2021-05-22 | 2021-08-24 | 北京德风新征程科技有限公司 | Real-time simulation analysis system based on industrial internet |
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| CN113630280A (en) * | 2021-10-11 | 2021-11-09 | 中国人民解放军火箭军工程大学 | Distributed collaborative simulation operation platform |
| CN117170822A (en) * | 2023-11-03 | 2023-12-05 | 上海创景信息科技有限公司 | System model and code joint simulation system using distributed network middleware |
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Application publication date: 20190528 |