CN111459473A - Model real-time method and device - Google Patents
Model real-time method and device Download PDFInfo
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- CN111459473A CN111459473A CN202010246738.1A CN202010246738A CN111459473A CN 111459473 A CN111459473 A CN 111459473A CN 202010246738 A CN202010246738 A CN 202010246738A CN 111459473 A CN111459473 A CN 111459473A
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Abstract
The application provides a model real-time method and a device, wherein the method comprises the following steps: acquiring a non-real-time model of a specified object; replacing a non-real-time sub-module with real-time characteristics in a non-real-time model of the designated object by a corresponding real-time sub-module, and taking the model with the replaced sub-module as a first target model; compiling the first target model, and if the compiling is successful and the first target model has no implicit state, taking the compiled model as a second target model; and verifying whether the second target model meets the real-time requirement and the precision requirement, and if the second target model meets the real-time requirement and the precision requirement at the same time, determining that the second target model is the real-time model of the specified object. The model real-time method provided by the application avoids the problem that the real-time model calculation result is wrong due to parameter limitation, and the real-time model obtained by the application can simulate the instantaneous dynamic characteristic of a specified object.
Description
Technical Field
The present application relates to the field of simulation technologies, and in particular, to a method and an apparatus for real-time modeling.
Background
In some applications, it is desirable to build a real-time model of a given object in order to accomplish certain tasks using the real-time model. For example, when testing an engine-related controller, it is often necessary to test the related controller by using a real-time model of the engine instead of a real engine.
When building a real-time model, a non-real-time model is typically built and then converted to a real-time model. Currently, converting a non-real-time model into a real-time model can be realized by a table replacement method. The table comprises time information, input parameters and output parameters, the time information, the input parameters and the output parameters have corresponding relations, when the real-time model runs, the corresponding output parameters can be found in time according to the input parameters, time for resolving the output parameters according to the input parameters is saved, and the operation speed of the real-time model is improved.
However, the real-time model obtained by table substitution has many problems: firstly, parameters recorded by a table are limited, and if parameters required by a real-time model exceed the range recorded by the table, a calculation result cannot be obtained or the calculation result is wrong; second, the parameters of the tabular records are typically not refined enough to model the instantaneous dynamics of the specified object; thirdly, the table replacement method is usually only specific to a specific object or only specific working conditions of a specific object, and if the specific object changes or the working conditions of the specific object change, a new table needs to be used to replace the non-real-time sub-modules, which is very heavy and tedious in work.
Disclosure of Invention
In view of this, the present application provides a method and an apparatus for real-time modeling, which are used to solve the problems in the prior art that a calculation result of a real-time model obtained by a table substitution method is prone to error, cannot simulate the instantaneous dynamic characteristics of a specified object, and is only suitable for a specific object or a specific working condition, and the technical scheme is as follows:
a method of model instantaneization, comprising:
acquiring a non-real-time model of a specified object, wherein the non-real-time model of the specified object comprises a non-real-time submodule with real-time characteristics;
replacing a non-real-time sub-module with real-time characteristics in a non-real-time model of the designated object by a corresponding real-time sub-module, and taking the model with the replaced sub-module as a first target model;
compiling the first target model, and if the first target model is successfully compiled and the first target model does not have an implicit state, taking the compiled model as a second target model;
verifying whether the second target model meets the real-time requirement and the precision requirement;
and if the second target model meets the real-time requirement and the precision requirement at the same time, determining the second target model as the real-time model of the specified object.
Optionally, the model real-time method further includes:
if the first target model has an implicit state, eliminating the implicit state of the first target model;
compiling the model with the implicit state eliminated;
and taking the compiled model as a second target model, and then executing verification to determine whether the second target model meets the real-time requirement and the precision requirement.
Optionally, eliminating the implicit state existing in the first target model includes:
determining a submodule causing the first target model to have an implicit state as a target submodule according to a compiling result of the first target model, wherein the compiling result of the first target model comprises indication information of the submodule causing the first target model to have the implicit state;
and performing hysteresis processing on the target submodule to eliminate the implicit state existing in the first target model.
Optionally, performing hysteresis processing on the target sub-module includes:
replacing a target sub-module with a sub-module which has the same function as the target sub-module and lags behind the target sub-module to set a simulation step length;
or, a hysteresis sub-module is added between the target sub-module and the sub-module connected with the target sub-module, wherein the hysteresis sub-module is used for setting the simulation step length by hysteresis of the sub-module connected with the hysteresis sub-module.
Optionally, verifying whether the second target model meets the real-time requirement includes:
if the second target model simultaneously meets the following conditions, determining that the second target model meets the real-time requirement:
the CPU running time of the second target model is less than the preset simulation time;
the simulation step length required by the second target model calculation is smaller than the preset simulation step length;
and the frequency of the solver when solving the equation corresponding to the second target model meets the preset frequency condition.
Optionally, the model real-time method further includes:
if the second target model meets the accuracy requirement and does not meet the real-time requirement, determining key parameters of the second target model and/or key sub-modules in the second target model according to the model simulation purpose of the specified object;
adjusting key parameters of the second target model and/or key sub-modules in the second target model;
verifying whether the adjusted model meets the real-time requirement and the precision requirement;
and if the adjusted model meets the real-time requirement and the precision requirement at the same time, determining the adjusted model as the real-time model of the specified object.
Optionally, adjusting a key sub-module in the second target model includes:
simplifying two or more key sub-modules with the same parameters into one key sub-module in a parameter conversion mode, wherein the parameter conversion mode is to convert the parameters of the key sub-modules needing to be deleted to the key sub-modules needing not to be deleted;
or, the key sub-modules affecting the real-time performance of the second target model are replaced by low-order sub-modules with the same functions.
A model instantaneization apparatus, comprising: the system comprises a non-real-time model acquisition module, a first target model determination module, a second target model determination module, a model verification module and a real-time model determination module;
the non-real-time model acquisition module is used for acquiring a non-real-time model of the designated object, wherein the non-real-time model of the designated object comprises a non-real-time submodule with real-time characteristics;
the first target model determining module is used for replacing a non-real-time sub-module with real-time characteristics in a non-real-time model of the specified object with a corresponding real-time sub-module, and taking the model with the replaced sub-module as a first target model;
the second target model determining module is used for compiling the first target model, and if the first target model is successfully compiled and the first target model does not have an implicit state, the compiled model is used as a second target model;
the model verification module is used for verifying whether the second target model meets the real-time requirement and the precision requirement;
and the real-time model determining module is used for determining the second target model as the real-time model of the specified object if the second target model meets the real-time requirement and the precision requirement at the same time.
Optionally, the model real-time device further includes: an implicit state elimination module;
the implicit state elimination module is used for eliminating the implicit state of the first target model when the first target model has the implicit state;
and the second object model determining module is also used for compiling the model with the implicit state eliminated and taking the compiled model as a second object model.
Optionally, the model real-time device further includes: the key information determining module and the model adjusting module;
the key information determining module is used for determining key parameters of the second target model and/or key sub-modules in the second target model according to the model simulation purpose of the specified object if the second target model meets the accuracy requirement and does not meet the real-time requirement;
the model adjusting module is used for adjusting key parameters of the second target model and/or key sub-modules in the second target model;
the model verification module is also used for verifying whether the adjusted model meets the real-time requirement and the precision requirement;
and the real-time model determining module is also used for determining the adjusted model as the real-time model of the specified object if the adjusted model meets the real-time requirement and the precision requirement at the same time.
According to the technical scheme, the model real-time method comprises the steps of firstly obtaining a non-real-time model of a specified object, then replacing a non-real-time sub-module with real-time characteristics in the non-real-time model with a corresponding real-time sub-module to obtain a first target model, then compiling the first target model, if the first target model is successfully compiled and the first target model does not have an implicit state, taking the compiled model as a second target model, finally verifying whether the second target model meets the real-time requirement and the precision requirement, and if the second target model meets the real-time requirement and the precision requirement at the same time, determining the second target model as the real-time model of the specified object. The model real-time method provided by the application avoids the problem that the real-time model calculation result is wrong due to parameter limitation, and the real-time model obtained by the model real-time method provided by the application can simulate the instantaneous dynamic characteristic of a specified object.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, it is obvious that the drawings in the following description are only embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
Fig. 1 is a schematic flowchart of a model real-time method according to an embodiment of the present disclosure;
FIG. 2 is a schematic structural diagram of a model real-time apparatus according to an embodiment of the present disclosure;
fig. 3 is a block diagram of a hardware structure of a model real-time device according to an embodiment of the present disclosure.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
In view of the problems of the existing model real-time schemes, the present inventors have conducted extensive studies, and finally have proposed a model real-time method with a good effect, by which a real-time model of a specified object can be obtained, and then, the model real-time method provided in the present application is described by the following embodiments.
Referring to fig. 1, a schematic flow chart of a method for real-time modeling provided in an embodiment of the present application is shown, where the method may include:
and step S100, acquiring a non-real-time model of the specified object.
The non-real-time model of the designated object comprises a non-real-time submodule with real-time characteristics.
In the embodiment of the present application, the designated object may be a designated module, a designated device, or a designated system, for example, the designated object may be an engine, a hydraulic system, a mechanical system, a circuit system, or the like.
Taking a designated object as an engine as an example, the non-real-time model of the engine comprises a mass submodule, a spring damping submodule, a rotational inertia submodule, a rotational stiffness submodule, a torque submodule, a force submodule, a signal submodule and the like, wherein the mass submodule, the spring damping submodule and the rotational stiffness submodule are all non-real-time submodules with real-time characteristics, and certainly, the non-real-time submodule with real-time characteristics in the non-real-time model of the engine can also be other modules.
Step S110, replacing the non-real-time sub-modules with real-time characteristics in the non-real-time model of the designated object with corresponding real-time sub-modules, and taking the model with the replaced sub-modules as a first target model.
It should be understood that in the process of replacing non-real-time sub-modules having real-time characteristics with corresponding real-time sub-modules, the corresponding real-time sub-modules should have the same functions as the non-real-time sub-modules.
Considering that the simulation software AMESim has real-time sub-modules of the designated objects, the method can utilize the AMESim software to establish real-time models of the designated objects, and specifically, the non-real-time sub-modules with real-time characteristics in the non-real-time models of the designated objects are replaced by corresponding real-time sub-modules in the AMESim software.
Taking a specified object as an engine as an example: the non-real-time sub-modules with real-time characteristics in the non-real-time model of the engine comprise a MASs sub-module MAS21, a rotational stiffness sub-module RSTP00 and a spring damping sub-module SPR000, MAS21 can be replaced by a real-time sub-module MAS011RT with the same function in AMESim software, RSTP00 is replaced by a real-time sub-module RSTPRT01A with the same function in AMESim software, and SPR000 is replaced by a real-time sub-module SPR000RT with the same function in AMESim software.
And step S120, compiling the first target model, and if the first target model is successfully compiled and the first target model does not have an implicit state, taking the compiled model as a second target model.
Specifically, after the first object model is obtained in the simulation software, the first object model needs to be compiled to obtain a compiling result of the first object model. If the first object model is successfully compiled and the compiling result includes indication information that the first object model does not have the implicit state, the compiled model can be used as a second object model. Here, the implicit state means that an implicit differential equation exists in the equations corresponding to the first target model, and the implicit differential equation may cause a dead cycle phenomenon when the equations corresponding to the first target model are solved, so that a solution result of the first target model cannot be obtained.
And S130, verifying whether the second target model meets the real-time requirement and the precision requirement.
It should be noted that the first target model is a model including a real-time sub-module, the second target model obtained after the first target model is successfully compiled is a real-time model, and after the real-time model is obtained, it is also required to verify whether the second target model meets the requirements of real-time performance and precision.
And step S140, if the second target model meets the real-time requirement and the precision requirement at the same time, determining the second target model as a real-time model of the specified object.
The second target model meets the real-time requirement, which indicates that the second target model can run in real time, and the second target model meets the precision requirement, which indicates that the second target model is closer to the actual model, so that the second target model can be determined to be the real-time model of the specified object.
The model real-time method provided by the embodiment of the application comprises the steps of firstly obtaining a non-real-time model of a specified object, then replacing a non-real-time sub-module with real-time characteristics in the non-real-time model with a corresponding real-time sub-module to obtain a first target model, then compiling the first target model, taking the compiled model as a second target model if the first target model is successfully compiled and the first target model does not have an implicit state, finally verifying whether the second target model meets the real-time requirement and the precision requirement, and if the second target model meets the real-time requirement and the precision requirement at the same time, determining the second target model as the real-time model of the specified object. The model real-time method provided by the embodiment of the application avoids the problem that the real-time model calculation result is wrong due to parameter limitation, and the real-time model obtained by the model real-time method provided by the embodiment of the application can simulate the instantaneous dynamic characteristic of a specified object.
It has been described above that if the first object model is successfully compiled and the first object model has no implicit state, the compiled model can be used as the second object model. However, in the actual simulation process, there may be a case where the first target model has an implicit state. When the first object model has an implicit state, even if the first object model is successfully compiled, the compiled model cannot be used as a real-time model because it cannot run in fixed-step.
For a case that an implicit state exists in a first target model, an embodiment of the present application provides the following scheme:
and a1, if the first target model has an implicit state, eliminating the implicit state of the first target model.
The reasons for the existence of the implicit state of the first target model mainly include the following two points: firstly, the non-real-time model of the specified object obtained in step S100 has an implicit state, and the implicit state is not eliminated in the process of replacing the real-time sub-module in step S110; second, the non-real-time model of the specified object obtained in step S100 does not have an implicit status itself, but the process of replacing the real-time sub-module in step S110 causes an implicit status to appear in the first target model.
Optionally, the process of eliminating the implicit state existing in the first target model may include:
step a1-1, according to the compiling result of the first target model, determining the submodule causing the first target model to have the implicit state as the target submodule.
And the compiling result of the first target model comprises indication information of a submodule causing the first target model to have an implicit state.
It should be understood by those skilled in the art that if the first object model is compiled, a compilation result of the first object model may appear in the simulation software, and if the first object model has an implicit state, the compilation result may include indication information of a sub-module that causes the implicit state of the first object model.
Optionally, the compiling result of the first target model may include: and further checking each implicit differential equation according to the number of the implicit differential equations in the equation corresponding to the first target model, so as to obtain a submodule for causing each implicit differential equation to appear in the equation corresponding to the first target model.
Illustratively, the compilation result of the first object model includes: 2 implicit differential equations exist in the equation corresponding to the first target model, and by further checking the 2 implicit differential equations, submodule 1 causing implicit differential equation 1 to appear in the equation corresponding to the first target model and submodule 2 causing implicit differential equation 2 to appear in the equation corresponding to the first target model can be obtained. In the embodiment of the present application, the sub-module 1 and the sub-module 2 may be used as target sub-modules.
Step a1-2, hysteresis processing is carried out on the target submodule to eliminate the implicit state existing in the first target model.
The inventor of the present invention finds, through research, that if the target sub-module is subjected to hysteresis processing, that is, a simulation step length is set by hysteresis between input and output in the equation corresponding to the first target model, a solution result of the equation corresponding to the first target model can be obtained, that is, the implicit state existing in the first target model is eliminated.
In the embodiment of the present application, there may be a plurality of methods for performing the hysteresis processing on the target sub-module, and the following two methods are provided herein, but not limited thereto.
First, the target sub-module is replaced with a sub-module having the same function as the target sub-module and having a simulation step length set later than the target sub-module.
Taking the designated object as an engine as an example, if the target sub-module is determined to be a quality sub-module, the quality sub-module may be replaced with a second-order quality sub-module.
And secondly, a hysteresis sub-module is added between the target sub-module and the sub-module connected with the target sub-module, and the hysteresis sub-module is used for setting the simulation step length by hysteresis of the sub-module connected with the hysteresis sub-module.
In the embodiment of the application, adding the hysteresis sub-module between the target sub-module and the sub-module connected with the target sub-module includes two adding modes: firstly, a lag sub-module is added between a target sub-module and a previous sub-module connected with the target sub-module, and at the moment, the lag sub-module is used for setting the simulation step length for the lag of the previous sub-module connected with the target sub-module; secondly, a hysteresis sub-module is added between the target sub-module and a next sub-module connected with the target sub-module, and at the moment, the hysteresis sub-module is used for setting the simulation step length by hysteresis of the target sub-module.
And step a2, compiling the model after the implicit state is eliminated.
After the implicit state is eliminated, because the implicit differential equation does not exist in the equation corresponding to the model after the implicit state is eliminated, the situation that a calculation result cannot be obtained does not occur, at the moment, the model after the implicit state is eliminated is compiled, and the compiling result indicates that the model does not have the implicit state.
Step a3, using the compiled model as the second target model, and then executing the above step S130, i.e. verifying whether the second target model meets the real-time requirement and the precision requirement.
According to the model real-time method provided by the embodiment of the application, when the implicit state exists in the first target model, the implicit state can be eliminated, the model after the implicit state is eliminated is compiled, the second target model can be obtained, and if the second target model meets the real-time requirement and the precision requirement at the same time, the second target model is determined to be the real-time model of the specified object. According to the embodiment of the application, even if an implicit state appears in the process of converting the non-real-time model of the specified object into the real-time model, the conversion can still be successful.
The following describes "step S130, verifying whether the second target model satisfies the real-time requirement" in the above embodiment.
The process of verifying whether the second target model meets the real-time requirements may include: and determining whether the second target model meets a preset real-time condition, if so, determining that the second target model meets the real-time requirement, and if not, determining that the second target model does not meet the real-time requirement.
The real-time condition may include the following three conditions:
the first condition is that: the CPU time of the second target model is less than the preset simulation time.
In the embodiment of the application, the second target model comprises a plurality of sub-modules, a certain time is required for each sub-module to obtain the calculation result, and the running time of a CPU (central processing unit) of the second target model is the total time required for each sub-module in the second target model to obtain the calculation result.
In this embodiment, simulation software may be used to monitor the running time of the CPU of the second target model, and if the running time of the CPU of the second target model is less than the preset simulation time, it indicates that the second target model can run in real time within the preset simulation time, and at this time, it is determined that the second target model meets the first condition.
For example, if the simulation time preset in the AMESim software is 10 seconds, it may be verified whether the CPU time for the second target model to operate is less than 10 seconds, and if the CPU time for the second target model to operate is less than 10 seconds, it is determined that the second target model satisfies the first condition.
The second condition is that: the simulation step length required by the second target model calculation is smaller than the preset simulation step length.
As described above, it takes a certain time for each sub-module in the second target model to obtain the solution result, that is, each sub-module in the second target model corresponds to one simulation step required for solving the sub-module, and then the simulation step required for solving the second target model is the maximum simulation step in the simulation steps required for solving each sub-module in the second target model.
Before the second target model is simulated, a simulation step length needs to be set, so that the second target model operates according to the preset simulation step length, namely the second target model needs to output a resolving result of a submodule within the time of the preset simulation step length. Based on this, the simulation step length required by the second target model for resolving needs to be smaller than the preset simulation step length, so that the second target model can be guaranteed to run in real time within the preset simulation step length.
The third condition is that: and the frequency of the solver when solving the equation corresponding to the second target model meets the preset frequency condition.
It will be appreciated by those skilled in the art that the second target model may be compiled into a plurality of differential equations, wherein any one of the differential equations may be classified as either a damped model or an undamped model based on its equation characteristics.
If the differential equation is an undamped model, the solver frequency corresponding to the undamped model should satisfy: f > - (2 x pi x Fi) 2/(2 x Ri), wherein in the formula, F is the frequency of a solver, Fi is the frequency of an i mode (the undamped model has multiple modes, the i mode is one of the multiple modes), and Ri is the real part of a characteristic root corresponding to the differential equation.
If the differential equation is a damped model, the solver frequency corresponding to the damped model should satisfy: f > pi x Fj, where F is the solver frequency and Fj is the frequency of the j mode (damped model has multiple modes, j mode being one of the multiple modes).
It should be noted that the second target model includes a plurality of sub-modules, where each sub-module can obtain one solver frequency, and then the solver frequency corresponding to the second target model is the maximum frequency in the solver frequencies corresponding to the plurality of sub-modules.
The process of verifying whether the second target model meets the accuracy requirement may include: and determining whether the second target model meets a preset precision condition, if so, determining that the second target model meets the precision requirement, and if not, determining that the second target model does not meet the precision requirement. The accuracy condition may be: the difference value of the simulation result of the second target model under the fixed step length and the simulation result of the non-real-time model under the variable step length is smaller than or equal to a preset deviation threshold value.
Specifically, after the non-real-time model of the designated object is obtained in step S100, the non-real-time model may be compiled to obtain a simulation result of the non-real-time model under a variable step size, and the simulation result of the non-real-time model under the variable step size may represent the actual operation condition of the non-real-time model of the designated object to some extent.
As described above, before the second target model is simulated, a simulation step size needs to be set, so that the second target model operates according to the preset simulation step size, that is, the second target model needs to output a solution result of a sub-module within a time of the preset simulation step size. Here, the preset simulation step may be a fixed step, and then the second target model is simulated at the fixed step, so that a simulation result of the second target model at the fixed step may be obtained.
In this embodiment of the application, in step S110, the non-real-time sub-module having the real-time characteristic in the non-real-time model of the designated object is replaced with the corresponding real-time sub-module, so that the precision of the second target model and the precision of the actual model are different, and therefore it is required to ensure that the difference between the simulation result of the second target model in the fixed step length and the simulation result of the non-real-time model in the variable step length is smaller than or equal to the preset deviation threshold, so that the second target model can have the same or similar precision as the non-real-time model.
The deviation threshold may be determined according to actual conditions, and is not specifically limited in this application.
It should be noted that, if the second target model simultaneously satisfies the real-time condition and the accuracy condition, it is determined that the second target model simultaneously satisfies the real-time requirement and the accuracy requirement.
It can be understood that, at some time, there may be a case where the second target model satisfies the accuracy requirement but does not satisfy the real-time requirement, that is, the second target model does not satisfy at least one of the three conditions, and for a case where the second target model satisfies the accuracy requirement but does not satisfy the real-time requirement, the following scheme is proposed in the present application:
and b1, if the second target model meets the precision requirement but does not meet the real-time requirement, determining the key parameters of the second target model and/or the key sub-modules in the second target model according to the model simulation purpose of the specified object.
In this step, key items affecting the real-time performance of the second target model can be determined according to the purpose of model simulation of the designated object. If the fact that the key parameters of the second target model influence the real-time performance of the second target model is determined, determining the key items as the key parameters of the second target model; if the fact that the key sub-modules in the second target model can affect the real-time performance of the second target model is determined, determining the key items as the key sub-modules in the second target model; and if the key parameters of the second target model and the key sub-modules in the second target model are determined to influence the real-time performance of the second target model, determining the key items as the key parameters of the second target model and the key sub-modules in the second target model.
For example, if the simulation purpose of the second target model is to simulate the rotation speed condition of the real-time model, determining the rotation speed as a key parameter of the second target model; if the simulation purpose of the second target model is to simulate the pressure condition of the real-time model, determining the pressure as a key parameter of the second target model; and if the simulation purpose of the second target model is to simulate the flow condition of the real-time model, determining that the flow is a key parameter of the second target model.
And b2, adjusting the key parameters of the second target model and/or key sub-modules in the second target model.
In this step, the key parameters of the second target model and/or the key sub-modules in the second target model may be adjusted at least once, so that the adjusted second target model runs in real time.
The method for adjusting the key parameters of the second target model may be: the key parameters of the second object model are modified.
Specifically, if it is determined that the key parameter of the second target model affects the real-time performance of the second target model, the key parameter of the second target model may be modified at least once, the second target model with the modified parameter is recompiled after each modification, and it is determined whether the second target model with the modified parameter meets the real-time performance requirement and the precision requirement.
Optionally, if it is determined that the key sub-module in the second target model affects the real-time performance of the second target model, the embodiment of the present application may further modify the capacitive parameter or the resistive parameter in the key sub-module at least once.
It should be noted that the method for modifying parameters provided in this step cannot simplify the second target model, but the method can effectively improve the simulation speed of the second target model on the premise of ensuring the accuracy of the second target model.
The method for adjusting the key sub-modules in the second target model may include the following two methods:
the first method comprises the following steps: simplifying two or more key sub-modules with the same parameters into one key sub-module in a parameter conversion mode, wherein the parameter conversion mode is to convert the parameters of the key sub-modules needing to be deleted to the key sub-modules needing not to be deleted.
For example, assuming that the second target model is a model corresponding to the hydraulic system, the key sub-module a and the key sub-module B in the second target model both affect the real-time operation of the second target model, and both the key sub-module a and the key sub-module B have a parameter of liquid content, the liquid content parameter in the key sub-module a may be converted into the key sub-module B, and the key sub-module a may be deleted.
And the second method comprises the following steps: and replacing key sub-modules influencing the real-time performance of the second target model with low-order sub-modules having the same functions with the key sub-modules.
It is noted that replacing the critical sub-modules affecting the real-time performance of the second target model with the low-order sub-modules having the same functions as the critical sub-modules requires comprehensive consideration of the accuracy and real-time performance of the second target model. If the replaced second target model cannot be operated in real time after the replacement is completed, other low-order sub-modules with the same function can be replaced, or other key sub-modules are replaced by the low-order sub-modules, or other adjustment methods are used instead.
It should be noted that, in the embodiment of the present application, only one of the two adjustment methods may be used to adjust the key sub-module in the second target model, and the two adjustment methods may also be used to adjust the key sub-module in the second target model at the same time. Of course, the embodiment of the present application may also adjust both the key parameter and the key sub-module of the second target model. In addition, when the key parameters of the second target model and the key sub-modules in the second target model are adjusted, the sequence of adjusting the key parameters of the second target model and the key sub-modules in the second target model is not limited in the embodiment of the present application, and the sequence of the adjusting method adopted when the key sub-modules in the second target model are adjusted is not limited.
It should be noted that the adjustment method mentioned in the embodiment of the present application is only an example, and other adjustment methods may be used.
And b3, verifying whether the adjusted model meets the real-time requirement and the precision requirement at the same time.
Specifically, after adjusting the key parameters of the second target model and/or the key sub-modules in the second target model, the adjusted model needs to be recompiled after each adjustment, and it is determined whether the compiled model meets the real-time requirement and the precision requirement at the same time.
Optionally, in the embodiment of the present application, it is determined whether the adjusted model meets the requirement of real-time performance, and it is also determined whether the adjusted model meets the requirement of accuracy. If the adjusted model does not meet the precision requirement, or the adjusted model does not meet the precision requirement or the real-time requirement, the non-real-time model representing the specified object obtained in the step S100 has a problem, and the non-real-time model needs to be obtained again for the specified object; if the adjusted model does not meet the real-time requirement, the discontinuity point influencing the real-time property of the adjusted model can be determined according to the specific parameter (for counting the influence degree of the discontinuity point on the real-time property of the adjusted model) in the simulation software, the key parameter of the adjusted model and/or the key sub-module in the adjusted model can be determined according to the influence degree of the discontinuity point on the real-time property of the adjusted model, and then the step b2 and the step b3 are executed.
And b4, if the adjusted model meets the real-time requirement and the precision requirement, determining the adjusted model as the real-time model of the specified object.
Optionally, if the adjusted model meets the accuracy requirement but does not meet the real-time requirement, b1-b4 may be repeatedly executed to re-determine the key parameters of the adjusted model and/or the key sub-modules in the second target model, and adjust the key sub-modules until the adjusted model meets the real-time requirement; if the adjusted model does not meet the accuracy requirement, the real-time sub-module in step S110 is adjusted to continue the model real-time process.
The embodiment of the present application further provides a model real-time device, which is described below, and the model real-time device described below and the model real-time method described above may be referred to in a corresponding manner.
Referring to fig. 2, a schematic structural diagram of a model real-time device according to an embodiment of the present application is shown, and as shown in fig. 2, the model real-time device may include: a non-real-time model acquisition module 21, a first target model determination module 22, a second target model determination module 23, a model verification module 24, and a real-time model determination module 25.
And the non-real-time model acquisition module 21 is configured to acquire a non-real-time model of the specified object, where the non-real-time model of the specified object includes a non-real-time sub-module having real-time characteristics.
The first target model determining module 22 is configured to replace the non-real-time sub-modules with real-time characteristics in the non-real-time model of the designated object with corresponding real-time sub-modules, and use the model with the replaced sub-modules as the first target model.
And a second object model determining module 23, configured to compile the first object model, and if the first object model is successfully compiled and the first object model does not have an implicit state, take the compiled model as the second object model.
And the model verification module 24 is used for verifying whether the second target model meets the real-time requirement and the precision requirement.
And the real-time model determining module 25 is configured to determine that the second target model is a real-time model of the specified object if the second target model meets both the real-time requirement and the precision requirement.
The model real-time device provided by the application comprises the steps of firstly obtaining a non-real-time model of a specified object, then replacing a non-real-time sub-module with real-time characteristics in the non-real-time model with a corresponding real-time sub-module to obtain a first target model, then compiling the first target model, taking the compiled model as a second target model if the first target model is successfully compiled and the first target model does not have an implicit state, finally verifying whether the second target model meets the real-time requirement and the precision requirement, and if the second target model meets the real-time requirement and the precision requirement, determining the second target model as the real-time model of the specified object. The application provides a model real-time device has avoided leading to the problem that the real-time model results in making mistakes because of parameter limitation, and in addition, the instantaneous dynamic characteristic of appointed object can be simulated to the real-time model that the model real-time device that provides through this application obtained, and in addition, the model real-time device that this application provided does not have the restriction of object and operating mode, and the commonality is stronger.
In a possible implementation manner, the model real-time apparatus provided in the embodiment of the present application may further include: an implicit state elimination module.
And the implicit state elimination module is used for eliminating the implicit state of the first target model when the first target model has the implicit state.
Based on this, the second object model determining module is further configured to compile the model from which the implicit state is removed, and use the compiled model as the second object model.
In a possible implementation manner, the implicit state elimination module may include: a target submodule determination unit and a hysteresis processing unit.
And the target submodule determining unit is used for determining a submodule causing the first target model to have the implicit state as a target submodule according to the compiling result of the first target model, wherein the compiling result of the first target model comprises indication information of the submodule causing the first target model to have the implicit state.
And the hysteresis processing unit is used for performing hysteresis processing on the target submodule so as to eliminate the implicit state existing in the first target model.
In a possible implementation manner, the hysteresis processing unit may include: a first hysteresis processing subunit, or a second hysteresis processing subunit.
And the first hysteresis processing subunit is used for replacing the target sub-module with a sub-module which has the same function as the target sub-module and sets the simulation step length in a hysteresis way compared with the target sub-module.
And the second hysteresis processing subunit is used for adding a hysteresis submodule between the target submodule and the submodule connected with the target submodule, and the hysteresis submodule is used for setting the hysteresis of the submodule connected with the hysteresis submodule into a simulation step length.
In a possible implementation manner, the model verification module may be specifically configured to determine that the second target model meets the real-time requirement if the second target model meets the following three conditions at the same time.
Condition 1: the CPU time of the second target model is less than the preset simulation time.
Condition 2: the simulation step length required by the second target model calculation is smaller than the preset simulation step length.
Condition 3: and the frequency of the solver when solving the equation corresponding to the second target model meets the preset frequency condition.
In a possible implementation manner, the model verification module may be further specifically configured to determine that the second target model meets the accuracy requirement if the second target model meets the following conditions: the difference value of the simulation result of the second target model under the fixed step length and the simulation result of the non-real-time model under the variable step length is smaller than or equal to a preset deviation threshold value.
In a possible implementation manner, the model real-time apparatus provided in the embodiment of the present application may further include: the device comprises a key information determining module and a model adjusting module.
And the key information determining module is used for determining key parameters of the second target model and/or key sub-modules in the second target model according to the model simulation purpose of the specified object if the second target model meets the accuracy requirement and does not meet the real-time requirement.
And the model adjusting module is used for adjusting the key parameters of the second target model and/or the key sub-modules in the second target model.
Based on this, the model verification module is further configured to verify whether the adjusted model meets the real-time requirement and the precision requirement.
The real-time model determining module is further configured to determine the adjusted model as the real-time model of the designated object if the adjusted model meets the real-time requirement and the precision requirement at the same time.
In a possible implementation manner, when adjusting the key sub-modules in the second target model, the model adjusting module is specifically configured to reduce two or more key sub-modules having the same parameters into one key sub-module in a parameter conversion manner, where the parameter conversion manner is to convert parameters of key sub-modules that need to be deleted to key sub-modules that do not need to be deleted; or, the key sub-modules affecting the real-time performance of the second target model are replaced by low-order sub-modules with the same functions.
The embodiment of the application also provides a model real-time device. Alternatively, fig. 3 shows a block diagram of a hardware structure of the model real-time device, and referring to fig. 3, the hardware structure of the model real-time device may include: at least one processor 301, at least one communication interface 302, at least one memory 303, and at least one communication bus 304;
in the embodiment of the present application, the number of the processor 301, the communication interface 302, the memory 303 and the communication bus 304 is at least one, and the processor 301, the communication interface 302 and the memory 303 complete communication with each other through the communication bus 304;
the processor 301 may be a central processing unit CPU, or an application specific Integrated circuit asic (application specific Integrated circuit), or one or more Integrated circuits configured to implement embodiments of the present application, or the like;
the memory 303 may include a high-speed RAM memory, and may further include a non-volatile memory (non-volatile memory) or the like, such as at least one disk memory;
wherein the memory 303 stores a program and the processor 301 may invoke the program stored in the memory 303, the program being operable to:
acquiring a non-real-time model of a specified object, wherein the non-real-time model of the specified object comprises a non-real-time submodule with real-time characteristics;
replacing a non-real-time sub-module with real-time characteristics in a non-real-time model of the designated object by a corresponding real-time sub-module, and taking the model with the replaced sub-module as a first target model;
compiling the first target model, and if the first target model is successfully compiled and the first target model does not have an implicit state, taking the compiled model as a second target model;
verifying whether the second target model meets the real-time requirement and the precision requirement;
and if the second target model meets the real-time requirement and the precision requirement at the same time, determining the second target model as the real-time model of the specified object.
Alternatively, the detailed function and the extended function of the program may be as described above.
The embodiment of the application also provides a readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the method for realizing the real-time model implementation is realized.
Finally, it should also be noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. A method for real-time modeling, comprising:
acquiring a non-real-time model of a specified object, wherein the non-real-time model of the specified object comprises a non-real-time submodule with real-time characteristics;
replacing the non-real-time sub-modules with real-time characteristics in the non-real-time model of the designated object with corresponding real-time sub-modules, and taking the model with the replaced sub-modules as a first target model;
compiling the first target model, and if the first target model is successfully compiled and the first target model does not have an implicit state, taking the compiled model as a second target model;
verifying whether the second target model meets the real-time requirement and the precision requirement;
and if the second target model meets the real-time requirement and the precision requirement at the same time, determining that the second target model is the real-time model of the specified object.
2. The method of claim 1, further comprising:
if the first target model has an implicit state, eliminating the implicit state of the first target model;
compiling the model with the implicit state eliminated;
and taking the compiled model as a second target model, and then executing the verification to verify whether the second target model meets the real-time requirement and the precision requirement.
3. The method of claim 1, wherein the removing the implicit state of the first object model comprises:
determining a submodule causing the first target model to have an implicit state as a target submodule according to a compiling result of the first target model, wherein the compiling result of the first target model comprises indication information of the submodule causing the first target model to have the implicit state;
and performing hysteresis processing on the target submodule to eliminate the existing implicit state of the first target model.
4. The method of claim 3, wherein the performing hysteresis processing on the target sub-module comprises:
replacing the target sub-module with a sub-module which has the same function as the target sub-module and lags behind the target sub-module to set a simulation step length;
or, a hysteresis sub-module is added between the target sub-module and a sub-module connected with the target sub-module, wherein the hysteresis sub-module is used for setting the hysteresis of the sub-module connected with the hysteresis sub-module to be a simulation step.
5. The model real-time method of claim 1, wherein verifying whether the second target model meets real-time requirements comprises:
if the second target model simultaneously meets the following conditions, determining that the second target model meets the real-time requirement:
the running CPU time of the second target model is less than the preset simulation time;
the simulation step length required by the second target model calculation is smaller than a preset simulation step length;
and the frequency of the solver when solving the equation corresponding to the second target model meets a preset frequency condition.
6. The method of claim 1, further comprising:
if the second target model meets the accuracy requirement and does not meet the real-time requirement, determining key parameters of the second target model and/or key sub-modules in the second target model according to the model simulation purpose of the specified object;
adjusting key parameters of the second target model and/or key sub-modules in the second target model;
verifying whether the adjusted model meets the real-time requirement and the precision requirement;
and if the adjusted model meets the real-time requirement and the precision requirement at the same time, determining the adjusted model as the real-time model of the specified object.
7. The method of claim 6, wherein adjusting key sub-modules in the second object model comprises:
simplifying two or more key sub-modules with the same parameters into one key sub-module in a parameter conversion mode, wherein the parameter conversion mode is to convert the parameters of the key sub-modules needing to be deleted to the key sub-modules needing not to be deleted;
or replacing key sub-modules affecting the real-time performance of the second target model with low-order sub-modules having the same functions.
8. A model instantaneization apparatus, comprising: the system comprises a non-real-time model acquisition module, a first target model determination module, a second target model determination module, a model verification module and a real-time model determination module;
the non-real-time model acquisition module is used for acquiring a non-real-time model of the specified object, wherein the non-real-time model of the specified object comprises a non-real-time submodule with real-time characteristics;
the first target model determining module is used for replacing the non-real-time sub-modules with real-time characteristics in the non-real-time model of the specified object with corresponding real-time sub-modules, and taking the model with the replaced sub-modules as a first target model;
the second target model determining module is configured to compile the first target model, and if the first target model is successfully compiled and the first target model does not have an implicit state, take the compiled model as a second target model;
the model verification module is used for verifying whether the second target model meets the real-time requirement and the precision requirement;
the real-time model determining module is configured to determine that the second target model is the real-time model of the designated object if the second target model simultaneously satisfies the real-time requirement and the accuracy requirement.
9. The model real-time apparatus of claim 8, further comprising: an implicit state elimination module;
the implicit state elimination module is configured to eliminate an implicit state of the first target model when the first target model has an implicit state;
the second object model determining module is further configured to compile the model from which the implicit state is removed, and use the compiled model as the second object model.
10. The model real-time apparatus of claim 8, further comprising: the key information determining module and the model adjusting module;
the key information determining module is used for determining key parameters of the second target model and/or key sub-modules in the second target model according to the model simulation purpose of the specified object if the second target model meets the accuracy requirement and does not meet the real-time requirement;
the model adjusting module is used for adjusting key parameters of the second target model and/or key sub-modules in the second target model;
the model verification module is further used for verifying whether the adjusted model meets the real-time requirement and the precision requirement;
the real-time model determining module is further configured to determine the adjusted model as the real-time model of the designated object if the adjusted model meets the real-time requirement and the accuracy requirement at the same time.
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