CN110457747A - A kind of network control system synergy emulation method based on NS3 and MATLAB - Google Patents
A kind of network control system synergy emulation method based on NS3 and MATLAB Download PDFInfo
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Abstract
A kind of network control system synergy emulation method based on NS3 and MATLAB, planned network networked control systems cooperating simulation platform overall plan first, including design and simulation plateform system framework, it determines network control system cooperating simulation platform comprising modules and determines cooperating simulation platform data exchange and transmission scheme, the running environment of Liang Zhong simulation software is built in linux operating system, planned network networked control systems cooperating simulation platform Time Synchronizing later, collaborative simulation system is the analogue system that a kind of pair of real-time and timing are strict with, it needs to execute by simultaneously advancing two emulators, therefore three kinds of collaborative simulation Time Synchronizings are devised, and two of them is selected to be achieved, and improve the design of synchronous interaction model, next to each module program design of NS3, and design NS 3 emulation scripts, finally carry out the design of each modular program of MATLAB/Simulink.
Description
Technical field
The present invention relates to for two different simulation software NS3 and MATLAB, pass through design feature framework and synchronous side
Case, the method for making the two be able to carry out collaborative simulation.
Background technique
Network control system (NCS) is the system and actuator by be controlled, the control system of sensor and controller composition
System, operation are coordinated by communication network, therefore NCS includes control and the communication visual angle of coupling.NCS is total using multipurpose
The element for enjoying network connection spatial distribution leads to flexible framework, and typically reduces cost of installation and maintenance.Therefore, NCS
It is applied in the wide range of areas such as industrial control system and unmanned vehicle (UAV).
However, existing simulation software concentrates on control system or communication network, the emulation of NCS is also based on pair
The redevelopment of single simulation software.For example most common NCS emulation tool is namely based on the truetime software of MATLAB exploitation
Packet.It has the function of accurate physical model and powerful to MATLAB, and supports the matrix operation of complicated algorithm, but even if makes
Still certain communication networks can not be accomplished more accurately to emulate with truetime software package.The simulation software of communication system
NS3 is a kind of discrete event simulator of open source extensively, it is intended to promote the emulation of network stack different levels network protocol, make
With NS3, different network topologies can be constructed, and the mixing of several network technologies or multiple network can be simulated.If
A kind of effective mode, which can be found, to be combined both, and allow two software to accomplish have complementary advantages, it will to greatly improve imitative
Genuine accuracy.
Summary of the invention
The present invention to overcome the prior art can only a kind of system of accurate simulation the shortcomings that, propose it is a kind of based on NS3 and
The network control system synergy emulation method of MATLAB.
In order to analyze the coupling effect of NCS, synergy emulation method is considered as one of most promising solution, this hair
The bright advantages characteristic based on NS3 and MATLAB in respectively emulation field, proposes a kind of networking control based on NS3 and MATLAB
Systematic collaboration emulation platform processed.
A kind of network control system synergy emulation method based on NS3 and MATLAB, first planned networkization control system
System cooperating simulation platform overall plan, including design and simulation plateform system framework determine that network control system collaborative simulation is flat
Platform comprising modules and determining cooperating simulation platform data exchange and transmission scheme, two kinds are built in linux operating system and is imitated
The running environment of true software, later planned network networked control systems cooperating simulation platform Time Synchronizing, collaborative simulation system
It is the analogue system that a kind of pair of real-time and timing are strict with, needs to execute by simultaneously advancing two emulators, therefore design
Three kinds of collaborative simulation Time Synchronizings, and select two of them to be achieved, and improve the design of synchronous interaction model, it connects
Get off to each module program design of NS3, and design NS3 emulation script, is finally designed each module journey of MATLAB/Simulink
The design of sequence, including MATLAB Simulation drive module, Simulink control system model, MATLAB client component and MATLAB
The design of the several modules of user interface.
The technical solution adopted by the present invention to solve the technical problems is:
A kind of network control system synergy emulation method based on NS3 and MATLAB, contains following steps:
(1) planned network networked control systems cooperating simulation platform overall plan；
Step 11: design and simulation plateform system framework；
Emulation platform system can functionally be divided into control layer, Communication Layer and model layer three parts.Control layer by
MATLAB user interface composition, is responsible for the overall operation situation of monitoring system, realizes that system parameter, control parameter are set
It sets, issue communication command, control command and receives the data information acquired in simulation model.The function of Communication Layer passes through association
It is realized with emulation socket word modules, is mainly responsible for exchanging for data between MATLAB and NS3.Model layer uses the emulation received
Model cootrol instruction is with data needed for simulation model operation as inputting, and furthermore two kinds of simulators call respective emulation respectively
Drive module promotes simulation process.
Step 12: determining network control system cooperating simulation platform comprising modules；
The comprising modules of emulation platform NS3 include NS3core module, and NS3 emulates script, NS3 node number and topology text
Part module, multiple modules such as application module, wifi module, LTE module and mobility model module, MATLAB form mould
Block includes MATLAB Simulation drive module, Simulink control system model, MATLAB client component, MATLAB user's interaction
Interface, MATLAB element task space and emulation tracking statistics and visualization model.
Step 13: determining cooperating simulation platform data exchange and transmission scheme；
Data exchange between simulation software is covered using using MATLAB as the leading software of emulation using socket
Interprocess communication when word realizes two simulation process operation collaborative simulation is connect, and will be emulated using the mode for establishing file cache area
In initial start node number pass to NS3 simulating scenes script with node location and parsed, while MATLAB collaboration is imitative
The initial parameter for the NS3 simulating scenes being arranged in true interface will start NS3 simulation process by the system order of MATLAB,
And use parameter initialization simulating scenes.
For the data transmitting in single analog device, the parameter and MATLAB element task sky that are related in collaborative simulation interface
Between information exchange, in MATLAB client component in MATLAB element task space information exchange and Simulink with
The information exchange of MATLAB working space.
(2) planned network networked control systems cooperating simulation platform Time Synchronizing；
Step 21: collaborative simulation system is the analogue system that a kind of pair of real-time and timing are strict with, and is needed by same
Step promotes two emulators to execute, but since MATLAB/Simulink is different from the Simulation drive mode of NS3, MATLAB/
Simulink is time driving, and NS3 is event-driven, therefore visual angle and definition of two emulators to collaborative simulation synchronous event
It will be different.
Step 22: devising three kinds of collaborative simulation Time Synchronizings, and two of them is selected to be achieved；
Three kinds of different synchronization schemes are respectively that time stepping, master-slave mode are synchronous with clobal driving.According to emulation mesh
The difference for marking scene, the two is realized after selection, the synchronous collaborative simulation scheme for realizing time driving of master-slave mode, principal and subordinate
Formula, which synchronizes, considers influence of the asynchronous network event to control system in step-length synchronizing cycle, because without accumulation system error,
However master-slave mode synchronizes and does not account for control system and timely respond to asynchronous network event, control system is only capable of same in the period
Step event time point triggers network event when executing period transmission event.Clobal driving is synchronous for realizing based on controller
Event driven collaborative simulation scheme, master-slave mode it is synchronous not only without accumulation system error but also can control system timely respond to it is certain non-
The asynchronous network event in period.
Step 23: design synchronous interaction model.Simultaneously in order to realize the interaction with Simulink model, to synchronous interaction mould
Type improves, because client-side program operation Simulink model need to be jumped out, then constantly establishes TCP connection again using client
It closes the mode that socket disconnects to interact, structural body will be sent and received between client is established and disconnected
For synchronizing.The server of NS3 will exist as iteration server at this time, and the connection that main socket is used to listen to client is asked
It asks, and main socket will constantly create closing child socket, child socket is used to receive new connection request and sends and connect
Receive structural body.
(3) each module program design of NS3；
Step 31: being provided in patent " the associative simulation interface method integrated based on the NS3 of Transmission Control Protocol and MATLAB "
To NS3 default emulator, UDP application class and its assistant's class improvement, furthermore in order to record client transmission number
The sending time that lower status number and data packet are transmitted according to the number of packet, the status number of data packet, more packets, separately designs
Tetra- kinds of tag class of PacketNumTag, PacketPortTag, StateNumTag and SendTimeTag.
Step 32: design NS3 emulates script；
User is needed to write artificial foot when using NS3 and built network simulation scene originally, and simulating scenes pass through waf work
Tool is compiled and runs, and the execution process for emulating script is as follows: execution principal function → use initialization list initialization test
Script type → simulation parameter → operation Run () function is arranged using command line parameter starts to build simulating scenes → operation
Random number seed → operation Configure_phyMode_Defaults () function of SeedManager () function setup emulation
Configuration physical layer transmission mode simultaneously configures global parameter → operation CreateNodesphymacmobility () function, function
It include: 1. node number and node location 2. to be extracted from NS3 node number and topological file module using call back function to set
Standby addition physical layer and mac layers of transmission and packet loss tracking 3. are that node configures mobile property and node location readjustment 4. with glove
Reason layer (channel model) and mac layer and communication equipment is installed on node, and opening network tracking file generated, have ascii with
Two kinds of file types of pcap → operation Set_ExternallyDrivenSim_config () function configures external drive simulator
Parameter → operation InstallInternetStack () function install internet protocol stack, function includes: 1. installation IP
Layer Routing Protocol opens routing table tracking file generated 2. and installs internet protocol stack and be the interface point of all node devices
With IP address → operation InstallApplication () function, function includes: the application journey of 1. selections installation TCP or UDP
If 2. user of sequence selects LTE network, the carrying of activation side chain road, and configures LTE network tracking file generated 3. if it is desire to association
It is run with emulation using the delay of setting and packet loss, operation Set_delayloss () function is configured → runs
SetupWaveMessages () function is arranged if the physical layer modes of user are selected as WAVE agreement and sends bsm (substantially
Security message) data packet → operation ConfigureLogTracing function generates some additional tracking files, and judges whether
Necessary log component → operation Runsimulation () function in log system is opened, function is dynamic for Configuration network node
It draws, data traffic file generated → simulating scenes are built and finished, start and terminate to emulate.
(4) each module program design of MATLAB/Simulink；
Step 401: design MATLAB Simulation drive module；
MATLAB Simulation drive module is made of the MATLAB script submodule of one group of mutual tight association, including emulation is just
Beginningization module, emulation major cycle module, single step Simulation drive module, notice parsing and single step planning module, Simulink are emulated
Start-up and shut-down control module.
Step 402: design and simulation initialization module；
Simulation initialisation module is used to initialize the series of parameters of simulation run, and opens and emulated
Simulink model file, at the same allow Simulink execute one solution step-length time to start Control System Imitation, when with
When Simulink initialization button is pressed at family in collaborative simulation interactive interface, which will be run.When simulation initialisation module
Between driving with event driven difference be that initiation parameter is slightly different, while the module will save this under event-driven
Node after solving step-length sends state, for using the transmission data packet in event driven client setting notification architecture body
Trigger signal.
Step 403: design and simulation major cycle module；
It emulates major cycle module and operation is triggered by the beginning collaborative simulation button of interactive interface, emulation major cycle module will
The single step between collaborative simulation event in continuous circular flow emulation in MATLAB time shaft, to promote MATLAB/
The simulation process of control system in Simulink, progress bar will be created to constantly update display entirely by addition emulating major cycle module
The progress of collaborative simulation.Emulation major cycle module time driving is only in that with event driven difference: when module brings into operation,
The client source Program Generating groups of clients for calling the driving of mex compiler compilation time will be will use using the module of time driving
Part will use always the component to complete the interaction with NS3 in next entire simulation process, and use event driven imitative
The step is not carried out in Allah's loop module.
Step 404: design single step Simulation drive module；
The single step between the collaborative simulation event in emulation in MATLAB time shaft is run by single step Simulation drive module,
Single step Simulation drive module will differ widely in the process of two kinds of driving methods, using will directly run emulation when time driving
When compiling the time driving client component of generation in major cycle module, and being synchronized every time with NS3 under event-driven, visitor
Modification is set in the trigger signal of transmission data packet in the notification architecture body of family end, in order to ensure modified values are correctly sent, often
An event-driven client source file will be all compiled before secondary operation single step Simulation drive module.Later, single step Simulation drive mould
Block will be separately operable the parsing of respective notice and single step planning module and Simulink emulation start-up and shut-down control module, under event-driven
It also needs to run controller respond module and possible controller response is completed.Finally, will will be deleted solve step-length maximum and
Minimum value and external input variable, eliminate each run single step when by these variable dimensions it is inconsistent caused by emulate it is different
Often.
Step 405: the parsing of design notice and single step planning module；
The text file that client is generated using the notification architecture body received, notice parsing are read with single step planning module
These text files simultaneously parse, and notice parsing later plans a following single step according to different modes from single step planning module
In simulation parameter and process.The core concept that notice parsing is realized with single step planning module is: Control System Imitation reproduction
In same single step in network simulation control system operating condition, in addition notice parsing defines two kinds with single step planning module
The data packet processing mode of application layer, a kind of mode are the threshold values of setting received data packet delay, prevent reception delay excessive
Data packet, it is another then be to compile the current package number for receiving event with the data packet that event post-simulation uses is received before
Number be compared, if the number for being currently received data packet be greater than before received data packet number, use the number
According to data in wrapping, the packet data is otherwise then abandoned.Notice parsing setting under two kinds of driving methods with single step planning module
Count thought and operational process it is also quite different, under time driving, single step be one synchronizing cycle step-length, if synchronizing cycle step
Data packet is not received by length, in the single step by the packet delay be approximately one synchronizing cycle step-length, by being saved
Point each reception event time delay across synchronizing cycle step-length number and the time span in current step, this is same
A series of combination that step-length index value range is divided into bounds is solved in step period step-length, these combinations will be used in determination
Next segmentation executes the index of the solution step-length of step-length synchronizing cycle emulation, is collected simultaneously data packet each time and receives event
Relevant information be saved in structural body, and structural body is carried out by bubble sort according to the precedence of the event of reception, after sequence
Structural body will successively reappear received data packet event after being used for, and under event-driven, single step is between adjacent two subsynchronous
Simulation time, therefore only need to can be performed the single step by the corresponding bound for solving step-length index of the simulation time.Separately
The lower limit of the outer solution step-length index for being determined certain section of emulation using truthful data packet delay different from time driving, event-driven are adopted
The lower limit for the solution step-length index for being postponed to determine the single step with " reckoning ".
Step 406: design Simulink emulates start-up and shut-down control module；
Emulation start-up and shut-down control module directly controls Control System Imitation model in Simulink to complete the imitative of a single step
Very, emulation start-up and shut-down control module is by using set_param function call Simulink emulation command in each solution step-length
Start, pause, step and stop are realized to be emulated in each solution step-length start and stop Simulink, to reach in a certain precise time
Point updates the purpose of exterior input.Notice parsing and list obtained in single step planning module are successively executed under time driving
Each received data packet sequence of events in step, the bound indexed when received data packet event occurs using new solution step-length,
And the external input of more new model, circulating start and outage execute each solution step-length until next case point, when sequence of events does not have
The single step executes completion when remaining event, and the bound operation only indexed by the solution step-length of certain single step under event-driven
Adjacent two it is subsynchronous between emulation, updating external input variable later is the model received in alternative events next time
External input.The node location to control system is collected with velocity information after the completion of the single step run and redundancy is set
The trigger signal that node is sent.
Step 407: design Simulink suspends callback module；
Call back function Stopfcn is set in Simulink simulation model, and call back function Stopfcn will be walked in each solution
Readjustment Simulink suspends callback module when long pause, and Simulink suspends callback module and selected according to two kinds of driving methods of emulation
Two kinds of readjustment subprograms of operation are selected, the internal state of control system in solution step-length each in emulation are saved in output corresponding
In variable, and it is written in text file.
Step 408: design controller respond module；
Under event-driven mode, controller respond module executes after each controller receives data packet and calculates control amount
Task, and save each node data packet of the control system under the event and send mark and read for client.Similar Simulink
The start stop mode in start-up and shut-down control module is emulated, controller respond module determines that controller receives data packet and controller should not
Packet discard then runs one and solves step-length to obtain the control amount of controller, and having executed the solution step-length post-simulation will return
The state before executing the solution step-length is fallen back on, because executing the purpose of controller respond module just for the sake of obtaining controller
Control amount, the purpose of rollback be in order to prevent collaborative simulation Time Inconsistency the problem of.
Step 409: design simulation model closedown module.
Step 410: design Simulink control system model；
By in a certain control system sensor and actuator regard as to rely on the same node of controlled device, and controller
Regard another node as.Therefore two subsystems module is created in the control system file of Simulink to represent two sections
Point.
Step 411: design MATLAB client component；
MATLAB client component is also divided into two kinds according to the difference of driving method, client from MATLAB working space with
And obtained in text file Simulink emulate single step as a result, and NS3 circulation clothes will be sent to after its customized encapsulation
Business device, enters data packet comprising new round simulation result of the blocking model until receiving NS3 transmission later, and resolve packet is complete
It will be closed at rear client.
Step 412: design MATLAB user interface；
According to demand analysis, user is needed the settable simulation parameter of user is divided into global ginseng according to different simulating scenes
Number, control system parameter, node network interface card parameter, NS3 parameter and redundant node send setting parameter, and furthermore user can be used
Boundary is exited in the loading of simulation model, the control of collaborative simulation process, the drafting of simulation result, simulating scenes flash demo and resetting
5, face function.
The invention has the advantages that using strong synchronous between socket realization NS3 and MATLAB, with effective and true needle
Network control system is emulated.
Detailed description of the invention
Fig. 1 is the architecture diagram of the method for the present invention；
Fig. 2 is master-slave mode synchronization schematic diagram of the present invention；
Fig. 3 is clobal driving synchronization schematic diagram of the present invention；
Fig. 4 is tag class uml class figure of the present invention；
Fig. 5 is simulation initialisation module operational flow diagram of the present invention；
Fig. 6 is present invention emulation major cycle module operational flow diagram；
Fig. 7 is single step Simulation drive module operational flow diagram of the present invention；
Fig. 8 a is the parsing of present invention notice and single step planning module operational flow diagram (time driving)；
Fig. 8 b is the parsing of present invention notice and single step planning module operational flow diagram (event-driven)；
Fig. 9 is Simulink emulation start-up and shut-down control module operational flow diagram of the present invention；
Figure 10 is the schematic diagram of the embeddable Simulink control system model of the present invention；
Figure 11 is MATLAB user interface figure of the present invention；
Figure 12 is the complete block diagram of closed-loop system that observer, adjuster and front device is added of the embodiment of the present invention 1；
Figure 13 is the trolley position tracking effect picture of the embodiment of the present invention 1；
Figure 14 be the embodiment of the present invention 1 two schemes under trolley position tracking effect contrast figure.
Specific embodiment
Understand for the ease of those of ordinary skill in the art and implement the present invention, with reference to the accompanying drawings and examples to this hair
It is bright to be described in further detail.
A kind of network control system synergy emulation method based on NS3 and MATLAB, contains following steps:
(1) planned network networked control systems cooperating simulation platform overall plan；
Step 11: design and simulation plateform system framework；
Emulation platform system can functionally be divided into control layer, Communication Layer and model layer three parts.Control layer by
MATLAB user interface composition, is responsible for the overall operation situation of monitoring system, realizes that system parameter, control parameter are set
It sets, issue communication command, control command and receives the data information acquired in simulation model.The function of Communication Layer passes through association
It is realized with emulation socket word modules, is mainly responsible for exchanging for data between MATLAB and NS3.Model layer uses the emulation received
Model cootrol instruction is with data needed for simulation model operation as inputting, and furthermore two kinds of simulators call respective emulation respectively
Drive module promotes simulation process.
Step 12: determining network control system cooperating simulation platform comprising modules；
The comprising modules of emulation platform NS3 include NS3core module, and NS3 emulates script, NS3 node number and topology text
Part module, multiple modules such as application module, wifi module, LTE module and mobility model module, MATLAB form mould
Block includes MATLAB Simulation drive module, Simulink control system model, MATLAB client component, MATLAB user's interaction
Interface, MATLAB element task space and emulation tracking statistics and visualization model.
Step 13: determining cooperating simulation platform data exchange and transmission scheme；
Data exchange between simulation software is covered using using MATLAB as the leading software of emulation using socket
Interprocess communication when word realizes two simulation process operation collaborative simulation is connect, and will be emulated using the mode for establishing file cache area
In initial start node number pass to NS3 simulating scenes script with node location and parsed, while MATLAB collaboration is imitative
The initial parameter for the NS3 simulating scenes being arranged in true interface will start NS3 simulation process by the system order of MATLAB,
And use parameter initialization simulating scenes.
For the data transmitting in single analog device, the parameter and MATLAB element task sky that are related in collaborative simulation interface
Between information exchange, in MATLAB client component in MATLAB element task space information exchange and Simulink with
The information exchange of MATLAB working space.
(2) planned network networked control systems cooperating simulation platform Time Synchronizing；
Step 21: collaborative simulation system is the analogue system that a kind of pair of real-time and timing are strict with, and is needed by same
Step promotes two emulators to execute, but since MATLAB/Simulink is different from the Simulation drive mode of NS3, MATLAB/
Simulink is time driving, and NS3 is event-driven, therefore visual angle and definition of two emulators to collaborative simulation synchronous event
It will be different.
Step 22: devising three kinds of collaborative simulation Time Synchronizings, and two of them is selected to be achieved；
Three kinds of different synchronization schemes are respectively that time stepping, master-slave mode are synchronous with clobal driving.According to emulation mesh
The difference for marking scene, the two is realized after selection, the synchronous collaborative simulation scheme for realizing time driving of master-slave mode, principal and subordinate
Formula, which synchronizes, considers influence of the asynchronous network event to control system in step-length synchronizing cycle, because without accumulation system error,
However master-slave mode synchronizes and does not account for control system and timely respond to asynchronous network event, control system is only capable of same in the period
Step event time point triggers network event when executing period transmission event.Clobal driving is synchronous for realizing based on controller
Event driven collaborative simulation scheme, master-slave mode it is synchronous not only without accumulation system error but also can control system timely respond to it is certain non-
The asynchronous network event in period.
Step 23: design synchronous interaction model.Simultaneously in order to realize the interaction with Simulink model, to synchronous interaction mould
Type improves, because client-side program operation Simulink model need to be jumped out, then constantly establishes TCP connection again using client
It closes the mode that socket disconnects to interact, structural body will be sent and received between client is established and disconnected
For synchronizing.The server of NS3 will exist as iteration server at this time, and the connection that main socket is used to listen to client is asked
It asks, and main socket will constantly create closing child socket, child socket is used to receive new connection request and sends and connect
Receive structural body.
(3) each module program design of NS3；
Step 31: being provided in patent " the associative simulation interface method integrated based on the NS3 of Transmission Control Protocol and MATLAB "
To NS3 default emulator, UDP application class and its assistant's class improvement, furthermore in order to record client transmission number
The sending time that lower status number and data packet are transmitted according to the number of packet, the status number of data packet, more packets, separately designs
Tetra- kinds of tag class of PacketNumTag, PacketPortTag, StateNumTag and SendTimeTag.
Step 32: design NS3 emulates script；
User is needed to write artificial foot when using NS3 and built network simulation scene originally, and simulating scenes pass through waf work
Tool is compiled and runs, and the execution process for emulating script is as follows: execution principal function → use initialization list initialization test
Script type → simulation parameter → operation Run () function is arranged using command line parameter starts to build simulating scenes → operation
Random number seed → operation Configure_phyMode_Defaults () function of SeedManager () function setup emulation
Configuration physical layer transmission mode simultaneously configures global parameter → operation CreateNodesphymacmobility () function, function
It include: 1. node number and node location 2. to be extracted from NS3 node number and topological file module using call back function to set
Standby addition physical layer and mac layers of transmission and packet loss tracking 3. are that node configures mobile property and node location readjustment 4. with glove
Reason layer (channel model) and mac layer and communication equipment is installed on node, and opening network tracking file generated, have ascii with
Two kinds of file types of pcap → operation Set_ExternallyDrivenSim_config () function configures external drive simulator
Parameter → operation InstallInternetStack () function install internet protocol stack, function includes: 1. installation IP
Layer Routing Protocol opens routing table tracking file generated 2. and installs internet protocol stack and be the interface point of all node devices
With IP address → operation InstallApplication () function, function includes: the application journey of 1. selections installation TCP or UDP
If 2. user of sequence selects LTE network, the carrying of activation side chain road, and configures LTE network tracking file generated 3. if it is desire to association
It is run with emulation using the delay of setting and packet loss, operation Set_delayloss () function is configured → runs
SetupWaveMessages () function is arranged if the physical layer modes of user are selected as WAVE agreement and sends bsm (substantially
Security message) data packet → operation ConfigureLogTracing function generates some additional tracking files, and judges whether
Necessary log component → operation Runsimulation () function in log system is opened, function is dynamic for Configuration network node
It draws, data traffic file generated → simulating scenes are built and finished, start and terminate to emulate.
(4) each module program design of MATLAB/Simulink；
Step 401: design MATLAB Simulation drive module；
MATLAB Simulation drive module is made of the MATLAB script submodule of one group of mutual tight association, including emulation is just
Beginningization module, emulation major cycle module, single step Simulation drive module, notice parsing and single step planning module, Simulink are emulated
Start-up and shut-down control module.
Step 402: design and simulation initialization module；
Simulation initialisation module is used to initialize the series of parameters of simulation run, and opens and emulated
Simulink model file, at the same allow Simulink execute one solution step-length time to start Control System Imitation, when with
When Simulink initialization button is pressed at family in collaborative simulation interactive interface, which will be run.When simulation initialisation module
Between driving with event driven difference be that initiation parameter is slightly different, while the module will save this under event-driven
Node after solving step-length sends state, for using the transmission data packet in event driven client setting notification architecture body
Trigger signal.
Step 403: design and simulation major cycle module；
It emulates major cycle module and operation is triggered by the beginning collaborative simulation button of interactive interface, emulation major cycle module will
The single step between collaborative simulation event in continuous circular flow emulation in MATLAB time shaft, to promote MATLAB/
The simulation process of control system in Simulink, progress bar will be created to constantly update display entirely by addition emulating major cycle module
The progress of collaborative simulation.Emulation major cycle module time driving is only in that with event driven difference: when module brings into operation,
The client source Program Generating groups of clients for calling the driving of mex compiler compilation time will be will use using the module of time driving
Part will use always the component to complete the interaction with NS3 in next entire simulation process, and use event driven imitative
The step is not carried out in Allah's loop module.
Step 404: design single step Simulation drive module；
The single step between the collaborative simulation event in emulation in MATLAB time shaft is run by single step Simulation drive module,
Single step Simulation drive module will differ widely in the process of two kinds of driving methods, using will directly run emulation when time driving
When compiling the time driving client component of generation in major cycle module, and being synchronized every time with NS3 under event-driven, visitor
Modification is set in the trigger signal of transmission data packet in the notification architecture body of family end, in order to ensure modified values are correctly sent, often
An event-driven client source file will be all compiled before secondary operation single step Simulation drive module.Later, single step Simulation drive mould
Block will be separately operable the parsing of respective notice and single step planning module and Simulink emulation start-up and shut-down control module, under event-driven
It also needs to run controller respond module and possible controller response is completed.Finally, will will be deleted solve step-length maximum and
Minimum value and external input variable, eliminate each run single step when by these variable dimensions it is inconsistent caused by emulate it is different
Often.
Step 405: the parsing of design notice and single step planning module；
The text file that client is generated using the notification architecture body received, notice parsing are read with single step planning module
These text files simultaneously parse, and notice parsing later plans a following single step according to different modes from single step planning module
In simulation parameter and process.The core concept that notice parsing is realized with single step planning module is: Control System Imitation reproduction
In same single step in network simulation control system operating condition, in addition notice parsing defines two kinds with single step planning module
The data packet processing mode of application layer, a kind of mode are the threshold values of setting received data packet delay, prevent reception delay excessive
Data packet, it is another then be to compile the current package number for receiving event with the data packet that event post-simulation uses is received before
Number be compared, if the number for being currently received data packet be greater than before received data packet number, use the number
According to data in wrapping, the packet data is otherwise then abandoned.Notice parsing setting under two kinds of driving methods with single step planning module
Count thought and operational process it is also quite different, under time driving, single step be one synchronizing cycle step-length, if synchronizing cycle step
Data packet is not received by length, in the single step by the packet delay be approximately one synchronizing cycle step-length, by being saved
Point each reception event time delay across synchronizing cycle step-length number and the time span in current step, this is same
A series of combination that step-length index value range is divided into bounds is solved in step period step-length, these combinations will be used in determination
Next segmentation executes the index of the solution step-length of step-length synchronizing cycle emulation, is collected simultaneously data packet each time and receives event
Relevant information be saved in structural body, and structural body is carried out by bubble sort according to the precedence of the event of reception, after sequence
Structural body will successively reappear received data packet event after being used for, and under event-driven, single step is between adjacent two subsynchronous
Simulation time, therefore only need to can be performed the single step by the corresponding bound for solving step-length index of the simulation time.Separately
The lower limit of the outer solution step-length index for being determined certain section of emulation using truthful data packet delay different from time driving, event-driven are adopted
The lower limit for the solution step-length index for being postponed to determine the single step with " reckoning ".
Step 406: design Simulink emulates start-up and shut-down control module；
Emulation start-up and shut-down control module directly controls Control System Imitation model in Simulink to complete the imitative of a single step
Very, emulation start-up and shut-down control module is by using set_param function call Simulink emulation command in each solution step-length
Start, pause, step and stop are realized to be emulated in each solution step-length start and stop Simulink, to reach in a certain precise time
Point updates the purpose of exterior input.Notice parsing and list obtained in single step planning module are successively executed under time driving
Each received data packet sequence of events in step, the bound indexed when received data packet event occurs using new solution step-length,
And the external input of more new model, circulating start and outage execute each solution step-length until next case point, when sequence of events does not have
The single step executes completion when remaining event, and the bound operation only indexed by the solution step-length of certain single step under event-driven
Adjacent two it is subsynchronous between emulation, updating external input variable later is the model received in alternative events next time
External input.The node location to control system is collected with velocity information after the completion of the single step run and redundancy is set
The trigger signal that node is sent.
Step 407: design Simulink suspends callback module；
Call back function Stopfcn is set in Simulink simulation model, and call back function Stopfcn will be walked in each solution
Readjustment Simulink suspends callback module when long pause, and Simulink suspends callback module and selected according to two kinds of driving methods of emulation
Two kinds of readjustment subprograms of operation are selected, the internal state of control system in solution step-length each in emulation are saved in output corresponding
In variable, and it is written in text file.
Step 408: design controller respond module；
Under event-driven mode, controller respond module executes after each controller receives data packet and calculates control amount
Task, and save each node data packet of the control system under the event and send mark and read for client.Similar Simulink
The start stop mode in start-up and shut-down control module is emulated, controller respond module determines that controller receives data packet and controller should not
Packet discard then runs one and solves step-length to obtain the control amount of controller, and having executed the solution step-length post-simulation will return
The state before executing the solution step-length is fallen back on, because executing the purpose of controller respond module just for the sake of obtaining controller
Control amount, the purpose of rollback be in order to prevent collaborative simulation Time Inconsistency the problem of.
Step 409: design simulation model closedown module.
Step 410: design Simulink control system model；
By in a certain control system sensor and actuator regard as to rely on the same node of controlled device, and controller
Regard another node as.Therefore two subsystems module is created in the control system file of Simulink to represent two sections
Point.
Step 411: design MATLAB client component；
MATLAB client component is also divided into two kinds according to the difference of driving method, client from MATLAB working space with
And obtained in text file Simulink emulate single step as a result, and NS3 circulation clothes will be sent to after its customized encapsulation
Business device, enters data packet comprising new round simulation result of the blocking model until receiving NS3 transmission later, and resolve packet is complete
It will be closed at rear client.
Step 412: design MATLAB user interface；
According to demand analysis, user is needed the settable simulation parameter of user is divided into global ginseng according to different simulating scenes
Number, control system parameter, node network interface card parameter, NS3 parameter and redundant node send setting parameter, and furthermore user can be used
Boundary is exited in the loading of simulation model, the control of collaborative simulation process, the drafting of simulation result, simulating scenes flash demo and resetting
5, face function.
Embodiment 1:
For the validity for examining the cooperating simulation platform to run, we are flat at this for overhead crane tele-control system
Platform carries out emulation testing.Due to overhead crane driving system (open loop) be in itself it is unstable, from adjust control technology angle say,
Certain often can be used and adjusts control means, if overall-finished housing closed loop negative regulator controls, makes the variation at the angle θ (relative to steady-state value
Departure) control in the range of a very little.Since the position sA of trolley is that the controlled device state that can be observed becomes
Amount, it is possible to state observer reconfiguration system state be set using the measured value of small truck position sA, and cooperate total state anti-
Feedback output feedback quantity makes control system closed-loop stabilization, and the feedback parameter of overall-finished housing device passes through according to POLE PLACEMENT USING situation
Ackerman formula determines, as shown in figure 12, for the complete box of closed-loop system that observer, adjuster and front device is added
Figure.In general, overall-finished housing device and state observer can be seen as controller as a whole, usually this
The controller of class industry spot is to carry out field control by embedded scm or PLC, and live wiring generally passes through wired
The operation of network, such as field bus system or Ethernet, network does not have a great impact to control precision, but if scene
Controller receive damage, in order to keep remaining in operation for control system, it is contemplated that by allowing long-range control by wireless network
Device intervention control processed, at this moment the characteristic of communication network will generate large effect to control system.The parameter setting of simulating scenes
As shown in table 1 below.
The setting of 1 crane tele-control system simulation parameter of table
| Parameter list | Selected parameter |
| Node number | 2 |
| Single step size | 30ms |
| Simulation accuracy | 1ms |
| Emulate duration | 40 seconds |
| Simulation drive mode | Time driving |
| Channel path propagation model | Logarithm distance decay model |
| Interchannel noise model | NormalRandom plus Nakagami |
| Physical layer protocol | 802.11b |
| Node motion model | Normal position model |
| Transport layer protocol | UDP |
| Routing Protocol | aodv |
| Physical layer transmission rate mode | Normal rate mode DsssRate11Mbps |
Controller is placed sequentially in the position from controlled device distance 30m, 35m, 40m, and successively emulated (including
Non-delay scene).Set forth herein lower hypothesis: 1. complete controlled device sensings and control information are held by single data packet respectively
It carries, size is respectively 33 bytes and 17 bytes.Data package size is smaller to be ensure that short packet transmission time and generates low network flow
Amount.2. the task time that sampling, driving and control amount calculate can be ignored compared with network delay.As shown in figure 13, it is
The simulation result of the small truck position sA tracking performance influenced by controller distance.
It can be seen that by simulation result, when controller distance is 30m, since internodal data connection is sufficiently stable, thus
Postpone very little and almost without packet loss, trolley position tracking curve overshoot is 2.8%, compared to the overshoot under undelayed
2.6% is only high by 2%, therefore influence of the communication network to control performance is very little.And when controller distance is more than 30m
Afterwards, since channel power attenuation rising makes receiver that can not detect lower-powered data packet, packet loss is caused to rise, time delay
Become larger and establish Connection Time extension, the tracking performance of small truck position reduces rapidly, and when controller distance is 35m, tracking is bent
Line is shaken, and trolley is just effectively controlled after driving in the wrong direction occurs in 12s to 19s, the aircraft pursuit course when controller distance is 40m
It is acutely directly dissipated after concussion, trolley has been unable to get control, therefore it is table 2 within 30 meters that controller, which effectively disposes distance,
Illustrate system performance of the controller under different distance.
Influence of the 2 controller distance of table to system performance
In order to solve controlled device to a certain extent since what dynamic property caused by increasing with controller distance deteriorated asks
Topic uses the state compensation scheme based on time delay in the controller, and state observer is at the k moment from received data packet under the program
The controlled device k- τ that middle estimation obtainssc,kSystem mode x (the k- τ that moment sendssc,k), wherein τsc,kIt is sent for this from sensor
To the time delay of the data packet of controller, which is obtained to the discrete steps of time delay divided by control system state update cycle T
τstep,sc,k, and at the k moment according to time delay discrete steps τstep,sc,kIt carries outThe status predication of step is (wherein), status predication updated value is calculated using based on controlled device state-space model hereIn the time for not receiving new data packet after the k moment, then used in each time step
The current state predicted value saved in controllerThe calculating of a step is carried out based on plant model with shape
State forecast updating valueWherein l is prediction step total till now after k reception to the data packet
Number, controller will send the control amount being calculated according to status predication updated value in each sample period time point, use this
Scheme is to compensate for the hysteretic state estimated from state observer, prevents from sending the control amount lagged.As shown in figure 14,
For using the compensation scheme and trolley dynamic property comparison diagram when not using.It can be seen that from the curve in figure in controller
Trolley aircraft pursuit course is set to eliminate shake and reverse movement using the compensation scheme when distance is 35m, dynamic property is good, is controlling
Trolley aircraft pursuit course is set to eliminate violent concussion using the compensation scheme when device distance processed is 40m, although aircraft pursuit course has more
Apparent overshoot, but unstable diverging is eliminated, it is capable of the reference input of effective tracking system.
Content described in this specification embodiment is only enumerating to the way of realization of inventive concept, protection of the invention
Range should not be construed as being limited to the specific forms stated in the embodiments, and protection scope of the present invention is also and in art technology
Personnel conceive according to the present invention it is conceivable that equivalent technologies mean.
Claims (1)
1. a kind of network control system synergy emulation method based on NS3 and MATLAB, contains following steps:
(1) planned network networked control systems cooperating simulation platform overall plan；
Step 11: design and simulation plateform system framework；
Emulation platform system can functionally be divided into control layer, Communication Layer and model layer three parts；Control layer is by MATLAB
User interface composition, is responsible for the overall operation situation of monitoring system, realizes the setting of system parameter, control parameter, issues
The data information acquired in communication command, control command and reception simulation model；The function of Communication Layer passes through collaborative simulation
It is socketed word modules to realize, is mainly responsible for exchanging for data between MATLAB and NS3；Model layer uses the simulation model control received
System instruction is with data needed for simulation model operation as inputting, and furthermore two kinds of simulators call respective Simulation drive mould respectively
Block promotes simulation process；
Step 12: determining network control system cooperating simulation platform comprising modules；
The comprising modules of emulation platform NS3 include NS3 core module, and NS3 emulates script, NS3 node number and topological file mould
Block, multiple modules such as application module, wifi module, LTE module and mobility model module, MATLAB comprising modules packet
Include MATLAB Simulation drive module, Simulink control system model, MATLAB client component, MATLAB user's interaction circle
Face, MATLAB element task space and emulation tracking statistics and visualization model；
Step 13: determining cooperating simulation platform data exchange and transmission scheme；
Socket socket is utilized using using MATLAB as the leading software of emulation for the data exchange between simulation software
Realize interprocess communication when two simulation process run collaborative simulation, and will be first in emulation using the mode for establishing file cache area
Start node number and the node location of beginning passes to NS3 simulating scenes script and is parsed, while MATLAB collaborative simulation circle
The initial parameter for the NS3 simulating scenes being arranged in face will start NS3 simulation process by the system order of MATLAB, and make
With parameter initialization simulating scenes；
For the data transmitting in single analog device, the parameter and MATLAB element task space that are related in collaborative simulation interface
Information exchange, in MATLAB client component in MATLAB element task space information exchange and Simulink with
The information exchange of MATLAB working space；
(2) planned network networked control systems cooperating simulation platform Time Synchronizing；
Step 21: collaborative simulation system is the analogue system that a kind of pair of real-time and timing are strict with, and needs to push away by synchronizing
It is executed into two emulators, but since MATLAB/Simulink is different from the Simulation drive mode of NS3, MATLAB/Simulink is
Time driving, and NS3 is event-driven, therefore two emulators will not to the visual angle of collaborative simulation synchronous event and definition
Together；
Step 22: devising three kinds of collaborative simulation Time Synchronizings, and two of them is selected to be achieved；
Three kinds of different synchronization schemes are respectively that time stepping, master-slave mode are synchronous with clobal driving；According to simulation objectives field
The difference of scape, the two is realized after selection, the synchronous collaborative simulation scheme for realizing time driving of master-slave mode, and master-slave mode is same
Step considers influence of the asynchronous network event to control system in step-length synchronizing cycle, because without accumulation system error, however
Master-slave mode, which synchronizes, not to be accounted for control system and timely responds to asynchronous network event, and control system is only capable of in cycle synchronisation thing
Part time point triggers network event when executing period transmission event；Clobal driving is synchronous for realizing based on controller event
The collaborative simulation scheme of driving, master-slave mode it is synchronous not only without accumulation system error but also can control system timely respond to it is certain aperiodic
Asynchronous network event；
Step 23: design synchronous interaction model；Simultaneously in order to realize the interaction with Simulink model, to synchronous interaction model into
Row improves, because client-side program operation Simulink model need to be jumped out, then constantly establishes TCP connection using client and closes again
The mode that socket disconnects interacts, and will send and receive structural body between client is established and disconnected and be used for
It is synchronous；The server of NS3 will exist as iteration server at this time, and main socket is used to listen to the connection request of client, and
Main socket will constantly create closing child socket, and child socket is for receiving new connection request and sending and receiving structure
Body；
(3) each module program design of NS3；
Step 31: being provided in patent " the associative simulation interface method that NS3 based on Transmission Control Protocol and MATLAB are integrated " pair
NS3 default emulator, UDP application class and its assistant's class improvement, furthermore in order to record client transmission data
The number of packet, the status number of data packet, more packets transmit the sending time of lower status number and data packet, separately design
Tetra- kinds of tag class of PacketNumTag, PacketPortTag, StateNumTag and SendTimeTag；
Step 32: design NS3 emulates script；
User is needed to write artificial foot when using NS3 and built network simulation scene originally, simulating scenes by waf tool into
Row compiling and operation, the execution process for emulating script are as follows: execution principal function → use initialization list initialization test script
Class → simulation parameter → operation Run () function is arranged using command line parameter starts to build simulating scenes → operation
Random number seed → operation Configure_phyMode_Defaults () function of SeedManager () function setup emulation
Configuration physical layer transmission mode simultaneously configures global parameter → operation CreateNodesphymacmobility () function, function
It include: 1. node number and node location 2. to be extracted from NS3 node number and topological file module using call back function to set
Standby addition physical layer and mac layers of transmission and packet loss tracking 3. are that node configures mobile property and node location readjustment 4. with glove
Reason layer (channel model) and mac layer and communication equipment is installed on node, and opening network tracking file generated, have ascii with
Two kinds of file types of pcap → operation Set_ExternallyDrivenSim_config () function configures external drive simulator
Parameter → operation InstallInternetStack () function install internet protocol stack, function includes: 1. installation IP
Layer Routing Protocol opens routing table tracking file generated 2. and installs internet protocol stack and be the interface point of all node devices
With IP address → operation InstallApplication () function, function includes: the application journey of 1. selections installation TCP or UDP
If 2. user of sequence selects LTE network, the carrying of activation side chain road, and configures LTE network tracking file generated 3. if it is desire to association
It is run with emulation using the delay of setting and packet loss, operation Set_delayloss () function is configured → runs
SetupWaveMessages () function is arranged if the physical layer modes of user are selected as WAVE agreement and sends bsm (substantially
Security message) data packet → operation ConfigureLogTracing function generates some additional tracking files, and judges whether
Necessary log component → operation Runsimulation () function in log system is opened, function is dynamic for Configuration network node
It draws, data traffic file generated → simulating scenes are built and finished, start and terminate to emulate；
(4) each module program design of MATLAB/Simulink；
Step 401: design MATLAB Simulation drive module；
MATLAB Simulation drive module is made of the MATLAB script submodule of one group of mutual tight association, including simulation initialisation
Module, emulation major cycle module, single step Simulation drive module, notice parsing and single step planning module, Simulink emulate start and stop
Control module；
Step 402: design and simulation initialization module；
Simulation initialisation module is used to initialize the series of parameters of simulation run, and opens and emulated
Simulink model file, at the same allow Simulink execute one solution step-length time to start Control System Imitation, when with
When Simulink initialization button is pressed at family in collaborative simulation interactive interface, which will be run；When simulation initialisation module
Between driving with event driven difference be that initiation parameter is slightly different, while the module will save this under event-driven
Node after solving step-length sends state, for using the transmission data packet in event driven client setting notification architecture body
Trigger signal；
Step 403: design and simulation major cycle module；
It emulates major cycle module and operation is triggered by the beginning collaborative simulation button of interactive interface, emulation major cycle module will be continuous
The single step between collaborative simulation event in circular flow emulation in MATLAB time shaft, to promote in MATLAB/Simulink
In addition the simulation process of control system emulates major cycle module for progress bar is created to constantly update the entire collaborative simulation of display
Progress；Emulation major cycle module time driving is only in that with event driven difference: when module brings into operation, being driven using the time
Dynamic module calls the client source Program Generating client component of mex compiler compilation time driving by will use, in the case where connecing
The component will be used to complete the interaction with NS3 always in the entire simulation process come, and uses event driven emulation major cycle
The step is not carried out in module；
Step 404: design single step Simulation drive module；
Pass through the single step between the collaborative simulation event in MATLAB time shaft in the operation emulation of single step Simulation drive module, single step
Simulation drive module will differ widely in the process of two kinds of driving methods, be followed using will directly run emulation master when time driving
When compiling the time driving client component of generation in ring moulds block, and being synchronized every time with NS3 under event-driven, client
Modification is set in the trigger signal of transmission data packet in notification architecture body, in order to ensure modified values are correctly sent, transports every time
An event-driven client source file will be all compiled before row single step Simulation drive module；Later, single step Simulation drive module will
It is separately operable respective notice parsing and single step planning module and Simulink emulation start-up and shut-down control module, is also needed under event-driven
It runs controller respond module and possible controller response is completed；Finally, solving the minimum and maximum of step-length for will be deleted
Value and external input variable, eliminate each run single step when by these variable dimensions it is inconsistent caused by abnormal simulation；
Step 405: the parsing of design notice and single step planning module；
The text file that client is generated using the notification architecture body received, notice parsing read these with single step planning module
Text file simultaneously parses, and notice parsing later is planned in a following single step from single step planning module according to different modes
Simulation parameter and process；The core concept that notice parsing is realized with single step planning module is: Control System Imitation has reappeared together
In sample single step in network simulation control system operating condition, in addition notice parsing with single step planning module defines two kinds of applications
The data packet processing mode of layer, a kind of mode are the threshold values of setting received data packet delay, prevent from receiving the excessive data of delay
Packet, it is another then be by the current package number for receiving event and reception event post-simulation uses before package number into
Row compares, if the number for being currently received data packet be greater than before received data packet number, using the data packet
Otherwise interior data then abandon the packet data；Notice parsing is thought with design of the single step planning module under two kinds of driving methods
Want it is also quite different with operational process, under time driving, single step be one synchronizing cycle step-length, if in synchronizing cycle step-length
Be not received by data packet, in the single step by the packet delay be approximately one synchronizing cycle step-length, existed by obtaining node
Each reception event time delay across synchronizing cycle step-length number and the time span in current step, this is synchronized into week
A series of combination that step-length index value range is divided into bounds is solved in phase step-length, these combinations will be used in determination and connect down
It is segmented the index for the solutions step-length for executing step-length synchronizing cycle emulation, is collected simultaneously the phase of the reception event of data packet each time
Information preservation is closed to structural body, and structural body is carried out by bubble sort according to the precedence of the event of reception, the structure after sequence
Body will successively reappear received data packet event after being used for, and under event-driven, single step is imitative between adjacent two subsynchronous
The true time, therefore only the single step need to can be performed by the corresponding bound for solving step-length index of the simulation time；In addition not
It is same as the lower limit that time driving determines the solution step-length index of certain section of emulation using truthful data packet delay, event-driven uses
The lower limit for the solution step-length index that " reckoning " postpones to determine the single step；
Step 406: design Simulink emulates start-up and shut-down control module；
Emulation start-up and shut-down control module directly controls Control System Imitation model in Simulink to complete the emulation of a single step, imitates
True start-up and shut-down control module by each solution step-length using set_param function call Simulink emulation command start,
Pause, step and stop are realized to be emulated in each solution step-length start and stop Simulink, is updated with reaching in a certain precise time point
The purpose of exterior input；It is successively executed under time driving each in single step obtained in notice parsing and single step planning module
Received data packet sequence of events, the bound indexed when received data packet event occurs using new solution step-length, and update
The external input of model, circulating start and outage execute each solution step-length until next case point, when sequence of events is without remaining thing
The single step executes completion when part, and the bound operation adjacent two only indexed by the solution step-length of certain single step under event-driven
Emulation between subsynchronous, the outside for updating the model of the external input variable to receive in alternative events next time later are defeated
Enter；The node location to control system is collected with velocity information after the completion of the single step run and redundant node hair is set
The trigger signal sent；
Step 407: design Simulink suspends callback module；
Call back function Stopfcn is set in Simulink simulation model, and call back function Stopfcn will be temporary in each solution step-length
Stopping time adjusts back Simulink and suspends callback module, and Simulink suspends callback module and selects to transport according to two kinds of driving methods of emulation
The internal state of control system and output in solution step-length each in emulation are saved in relevant variable by two kinds of readjustment subprograms of row
In, and be written in text file；
Step 408: design controller respond module；
Under event-driven mode, controller respond module executes after each controller receives data packet and calculates appointing for control amount
Business, and save each node data packet of the control system under the event and send mark for client reading；Similar Simulink is emulated
Start stop mode in start-up and shut-down control module, controller respond module determine that controller receives data packet and controller should not abandon
Data packet then runs one and solves step-length to obtain the control amount of controller, and having executed the solution step-length post-simulation will return back to
State before executing the solution step-length, because executing the purpose of controller respond module just for the sake of obtaining the control of controller
Amount, the purpose of rollback be in order to prevent collaborative simulation Time Inconsistency the problem of；
Step 409: design simulation model closedown module；
Step 410: design Simulink control system model；
By in a certain control system sensor and actuator regard as to rely on the same node of controlled device, and controller is regarded as
It is another node；Therefore two subsystems module is created in the control system file of Simulink to represent two nodes；
Step 411: design MATLAB client component；
MATLAB client component is also divided into two kinds according to the difference of driving method, and client is from MATLAB working space and text
Obtained in this document Simulink emulate single step as a result, and NS3 circulating server will be sent to after its customized encapsulation,
Enter data packet comprising new round simulation result of the blocking model until receiving NS3 transmission later, after the completion of resolve packet
Client will close；
Step 412: design MATLAB user interface；
According to demand analysis, by user according to different simulating scenes need the settable simulation parameter of user to be divided into global parameter,
Control system parameter, node network interface card parameter, NS3 parameter and redundant node send setting parameter, and furthermore user can be used imitative
Interface is exited in the loading of true mode, the control of collaborative simulation process, the drafting of simulation result, simulating scenes flash demo and resetting
5 functions.
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