CN113836675A - Simulator simulation system and method and simulator - Google Patents
Simulator simulation system and method and simulator Download PDFInfo
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Abstract
The embodiment of the invention provides a simulator simulation system, a simulator simulation method and a simulator, and relates to the field of simulation. The system comprises a master simulator and slave simulators, wherein the master simulator is connected with each slave simulator; after the current time step starts, the master simulator calculates a current time step master simulation value according to a previous time step master simulation value and a previous two time step slave simulation value, stores the current time step master simulation value, and sends the previous time step master simulation value to the slave simulator; and the slave simulator receives the previous time step master simulation value, calculates the current time step slave simulation value according to the previous time step master simulation value and the previous time step slave simulation value, stores the current time step slave simulation value, and sends the previous time step slave simulation value to the master simulator. In the invention, the master simulator and the slave simulators adopt the same time sequence, the master simulator can send data to a plurality of slave simulators simultaneously, and networking simulation of a larger number of simulators can be realized on the basis of ensuring the simulation time synchronization of each simulator.
Description
Technical Field
The invention relates to the field of simulation, in particular to a simulator simulation system, a simulator simulation method and a simulator.
Background
With the continuous development of the economic society and the continuous improvement of the power demand, the structure of a modern power system becomes more and more complex, and the scale of the modern power system becomes more and more huge, so that accurate simulation and research of the power system of power electronization need to be carried out by means of a simulation tool in order to ensure the safe and stable operation of a power grid and realize the accurate analysis of the power system.
However, the computational performance and the simulation scale of the existing real-time simulator depend on the computational capability of the hardware of the real-time simulator, the simulation precision and the simulation scale are mutually restricted, the higher the precision requirement is, the smaller the real-time simulation scale is, and a single real-time simulator cannot meet the performance requirement and the scale requirement of the simulation research of the power system. Therefore, networking joint simulation of a plurality of simulators becomes an effective means for improving the real-time simulation scale on the premise of not influencing the precision, and networking simulation of two simulators is usually adopted in the existing networking of a plurality of simulators, and networking simulation of a larger number of simulators cannot be realized.
Disclosure of Invention
The invention aims to provide a simulator simulation system, a simulator simulation method and a simulator, which can better expand the number of networking simulators.
In order to achieve the above object, the embodiments of the present invention adopt the following technical solutions.
A simulator simulation system, the system comprising a master simulator and at least one slave simulator, the master simulator being communicatively connected to each slave simulator; the master simulator is used for generating master simulation values, and the slave simulator is used for generating slave simulation values;
the main simulator is used for calculating to obtain a current time step main simulation value according to a previous time step main simulation value and a previous two time step slave simulation value after the current time step starts;
the master simulator is also used for storing the current time-step master simulation value and sending the previous time-step master simulation value to the slave simulator;
the slave simulator is used for receiving the previous time-step master simulation value and calculating to obtain a current time-step slave simulation value according to the previous time-step master simulation value and the previous time-step slave simulation value;
the slave simulator is also used for storing the current time step slave simulation value and sending the last time step slave simulation value to the master simulator.
Optionally, the master simulator is further configured to execute the calculation to obtain a current time-step master simulation value and send the previous time-step master simulation value to the slave simulator;
the slave simulator is also used for simultaneously executing the calculation to obtain a current time step slave simulation value and sending the previous time step slave simulation value to the master simulator.
Optionally, the master simulator further comprises a master memory, and the slave simulator further comprises a slave memory;
the main memory is used for storing each time step main simulation value obtained by calculation;
the slave memory is used for storing each time step slave simulation value obtained by calculation.
Optionally, the master simulator further includes a master controller, a master receiving register, and a master sending register, and the slave simulator includes a slave controller, a slave receiving register, and a slave sending register;
the main controller is electrically connected with the main receiving register and the main sending register respectively;
the slave controller is electrically connected with the slave receiving register and the slave sending register respectively;
the main controller is used for reading the last two time step slave simulation values in the main receiving register and the last time step master simulation value in the main memory after the current time step starts, calculating to obtain a current time step master simulation value according to the last time step master simulation value and the last two time step slave simulation values, and storing the current time step master simulation value in the main memory;
the master controller is further configured to write the last time-step master simulation value into the master sending register and send the master simulation value to the slave receiving register;
the slave controller is used for reading the previous time step master simulation value in the slave receiving register and the previous time step slave simulation value in the slave storage, calculating to obtain a current time step slave simulation value according to the previous time step master simulation value and the previous time step slave simulation value, and storing the current time step slave simulation value in the slave storage;
and the slave controller is also used for writing the last time step slave simulation value into the slave sending register and sending the slave sending register to the master receiving register.
Optionally, the master simulator further comprises a timer, and the timer is electrically connected with the master controller;
the timer is used for calculating the simulation step length, and the current time step is started when the simulation step length is reached.
Optionally, the master simulator is in communication connection with each slave simulator through a transmission line, and the length of the transmission line satisfies a formula:
wherein d is the length of the transmission line; t is tkmA communication delay for the master simulator to the slave simulator; t is tmkA communication delay for the slave simulator to the master simulator; l is the inductance per unit length of the transmission line; and C is the capacitance per unit length of the transmission line.
In a second aspect, a simulator simulation method is applied to the simulator simulation system, and the method comprises the following steps;
after the current time step starts, the main simulator calculates a current time step main simulation value according to a previous time step main simulation value and a previous two time step slave simulation value, and stores the current time step main simulation value; sending the previous time step master simulation value to the slave simulator;
the slave simulator receives the previous time-step master simulation value, calculates a current time-step slave simulation value according to the previous time-step master simulation value and the previous time-step slave simulation value, and stores the current time-step slave simulation value; and sending the last time step from the simulation value to the main simulator.
Optionally, the master simulator executes the calculation to obtain a current time-step master simulation value and sends the previous time-step master simulation value to the slave simulator;
and the slave simulator simultaneously executes the calculation to obtain a current time step slave simulation value and sends the previous time step slave simulation value to the master simulator.
In a third aspect, a simulator is applied to the simulator simulation system, and the simulator simulation system further includes a master simulator, wherein the simulator is in communication connection with the master simulator;
the simulator is used for receiving a previous time step master simulation value, and calculating to obtain a current time step slave simulation value according to the previous time step master simulation value and the previous time step slave simulation value;
the simulator is also used for storing the current time step slave simulation value and sending the last time step slave simulation value to the main simulator.
In a fourth aspect, a simulator simulation method is applied to the simulator, the simulator is in communication connection with a master simulator, and the method includes:
receiving a previous time step master simulation value, and calculating to obtain a current time step slave simulation value according to the previous time step master simulation value and the previous time step slave simulation value;
and storing the current time step slave simulation value, and sending the last time step slave simulation value to the master simulator.
Compared with the prior art, the invention has the following beneficial effects:
the invention provides a simulator simulation system, a method and a simulator, wherein the system comprises a master simulator and at least one slave simulator, the master simulator is in communication connection with each slave simulator, the master simulator is used for generating a master simulation value, and the slave simulator is used for generating a slave simulation value; after the current time step starts, the master simulator calculates a current time step master simulation value according to a previous time step master simulation value and a previous two time step slave simulation value, stores the current time step master simulation value, and sends the previous time step master simulation value to the slave simulator; and the slave simulator receives the previous time step master simulation value, calculates the current time step slave simulation value according to the previous time step master simulation value and the previous time step slave simulation value, stores the current time step slave simulation value, and sends the previous time step slave simulation value to the master simulator. In the invention, the master simulator and the slave simulators adopt the same time sequence, the master simulator can send data to a plurality of slave simulators simultaneously, and networking simulation of a larger number of simulators can be realized on the basis of ensuring the simulation time synchronization of each simulator.
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In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
Fig. 1a is a schematic diagram of a transmission line decoupling method according to an embodiment of the present invention;
fig. 1b is a second schematic diagram of a transmission line decoupling method according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a modeling method for a joint simulation transmission line interface according to an embodiment of the present invention;
fig. 3 is a schematic diagram of a network division method according to an embodiment of the present invention;
FIG. 4 is a flowchart of a simulator simulation method according to an embodiment of the present invention;
FIG. 5 is a system architecture diagram of a real-time simulator provided in an embodiment of the present invention;
FIG. 6 is a diagram illustrating the steps of computing and communicating by the host simulator according to an embodiment of the present invention;
FIG. 7 is a diagram of the computation and communication steps of the slave simulator provided by the embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. 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 invention.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
In the description of the present invention, it should be noted that if the terms "upper", "lower", "inside", "outside", etc. indicate an orientation or a positional relationship based on that shown in the drawings or that the product of the present invention is used as it is, this is only for convenience of description and simplification of the description, and it does not indicate or imply that the device or the element referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present invention.
Furthermore, the appearances of the terms "first," "second," and the like, if any, are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.
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.
As described in the background art, as the structure of a modern power system becomes more and more complex and the scale becomes more and more huge, a single real-time simulator cannot meet the performance requirements and the scale requirements of the simulation research of the power system. The networking joint simulation of the plurality of simulators is an effective means for improving the real-time simulation scale on the premise of not influencing the precision.
However, networking of a plurality of existing simulators is often networking simulation of only two simulators, and networking simulation of a larger number of simulators cannot be realized, so that in order to at least partially solve the above problems, the embodiment of the invention provides a simulator simulation system.
For a better understanding of the present invention, the following further introduces and analyzes the related art of networking simulation.
The multi-simulator networking joint simulation refers to that a plurality of simulators synchronously simulate a large power network, each simulator simulates a part of the power network respectively, and the simulation of the whole power network is realized through data interaction.
In the prior art, to realize networking simulation of multiple simulators, a decoupling technology is a key, and is used for decomposing a large-scale power system into a plurality of independent subsystems, and then distributing the subsystems to different computing nodes or different simulators for parallel computing, so that the simulation speed is increased, and the simulation scale is increased.
At present, hybrid simulation interface algorithms for realizing the topological decoupling network splitting function of a power system mainly comprise: the method includes an ideal transformer model method, a time-varying first-order approximation method, a circuit division method, a damping impedance method, a transmission line model method and the like, and the methods have advantages and disadvantages in numerical stability and precision, and applicable models are different.
For large scale power systems, it is common to connect different regional grids via long transmission lines. Therefore, the transmission line decoupling method is naturally suitable for the multi-simulator combined real-time simulation of a large-scale power system. The invention provides a multi-simulator combined real-time electromagnetic transient simulation method based on a long transmission line Beggeron model on the basis of a transmission line decoupling method, focuses on the realization of an interface model and the communication time sequence design, and has the advantages of simple interface, strong practicability, stable transmission and high simulation precision.
In electromagnetic transient simulation, if the propagation delay τ of an electrical signal in a transmission line is greater than one simulation step Δ T, sub-networks on both sides of the transmission line can be divided into relatively independent sub-systems.
Equivalent method of transmission line as shown in fig. 1a and 1b, each port of the transmission line (i.e., k-port and m-port) is equivalent to a parallel form of impedance and controlled current source.
The propagation delay tau and the equivalent impedance Z of the transmission line satisfy the formula:
wherein, L and C are inductance and capacitance of transmission line unit length respectively, R is transmission line total resistance, and d is transmission line length.
Transmission line model principle, expression I of controlled source at time k and mk(t) and Im(t) are respectively:
wherein the content of the first and second substances,
t1＝t-τ (4)
wherein u isk(t1) And um(t1) Are each t1Terminal voltage, i, at time ports k and mk(t1) And im(t1) Are each t1Time of dayTerminal currents of ports k and m.
From the above equation, the value of the controlled current source at time t is compared with t1The terminal voltage and the terminal current at the moment are related, and the characteristic is the key for realizing the networking and the networking of the system, namely subsystems at two ends of the transmission line can independently calculate, and transmit the terminal voltage and the terminal current obtained at the moment to an opposite side port for the calculation of a controlled source at the subsequent moment.
When the transmission line decoupling model is used for networking real-time simulation, two ports of a transmission line need to be separately placed in different real-time simulators, and the influence of communication delay time on a transmission line interface needs to be considered due to the communication process between the simulators.
Let the communication delay from the emulator with transmission line port k to the emulator with transmission line port m be tk2mThe transmission in the reverse direction, i.e. the communication delay from the emulator with transmission line port m to transmission line port k is tm2kThen, Ik(t) and Im(t) are respectively:
wherein the content of the first and second substances,
t2＝τ-tk2m (8)
t3＝τ-tm2k (9)
in the above formula, tk2mAnd tm2kThe value of (a) is to be set in combination with a specific communication architecture and communication delay, and the value of (b) is usually an integer multiple of the simulation step size Δ T. Referring to fig. 2, the delay module is used to delay the input signal for a specific time and then output the delayed signal, where the delay time is greater than or equal to 0. Therefore, for the transmission line decoupling model applied to the joint simulation, the length of the transmission line must meet the following requirementsFormula (II):
similarly, in the power system, the branch network and the ring network are typical structures, and when one ring network is partitioned into two subnets for simulation, two transmission lines are inevitably connected between the two subnets. The more transmission lines, the more information that needs to be exchanged between the simulators, which will cause a problem of aggravating transmission delay due to time-consuming communication. In order to reduce the communication time consumption among the simulators and ensure the real-time performance of the simulation system, please refer to fig. 3, the present invention only splits the branch network topology, i.e. only one transmission line is connected between two networks to be split, and no transmission line is connected between the sub-network and the sub-network, i.e. the sub-network cannot be continuously split into two sub-networks, and only one main network is provided.
The core of the networking simulation of the multiple real-time simulators is to realize the synchronization among different simulators and ensure that the communication delay between the simulators on two sides of the decoupling transmission line is a constant value.
In view of the above, an embodiment of the present invention provides a simulator simulation system, which includes a master simulator and at least one slave simulator, wherein the master simulator is communicatively connected to each slave simulator, the master simulator is configured to generate master simulation values, and the slave simulator is configured to generate slave simulation values.
And the main simulator is used for calculating to obtain a current time step main simulation value according to the last time step main simulation value and the last two time step slave simulation values after the current time step starts.
The master simulator is also used for storing the current time-step master simulation value and sending the last time-step master simulation value to the slave simulator.
The slave simulator is used for receiving the previous time step master simulation value and calculating to obtain the current time step slave simulation value according to the previous time step master simulation value and the previous time step slave simulation value.
The slave simulator is also used for storing the current time step slave simulation value and sending the previous time step slave simulation value to the master simulator.
In this embodiment, the master simulator starts to start after the current time step starts, and the slave simulator starts after receiving the master simulation value of the last time step sent by the master simulator. The master simulator and the slave simulators have the same simulation time sequence except that the starting conditions are different, the master simulator can send a previous time step master simulation value to the slave simulators at the same time, and the slave simulators start the same simulation time sequence after receiving the simulation value, so that the time synchronization of all the simulators in the whole large system and the communication delay between the master simulator and each slave simulator are guaranteed to be constant. In addition, because the time sequences of the simulators are consistent, the number of the slave simulators can be added according to actual needs, and thus the simulation system can be expanded in number.
It should be noted that, since the master simulator and the slave simulator are both delay time calculation, initialization operation is performed at the time of starting the simulation system, various initial values in the master simulator and the slave simulator are set to 0 (or given by a user) at the initial time of simulation, and all slave simulators should be started before the master simulator in order to ensure that the master-slave architecture of the present application is effective.
In the present embodiment, when the slave simulator calculates the slave simulation value of the current time step (i.e. the controlled current source value), the master simulation value of the previous time step and the slave simulation value of the previous time step are used. When the main simulator calculates the current time step main simulation value, the last time step main simulation value and the last two time step slave simulation values are used. It can be seen that the delay of data communication between the two is not the same, but is constant, the delay from the master simulator to the slave simulator is one simulation step, and the delay from the slave simulator to the master simulator is two simulation steps. It should be noted that, in the algorithm of real-time simulation, to discretize the continuous system, the time interval after discretization is the simulation step size. The smaller the simulation step size, the higher the simulation result precision, and the larger the simulation step size, the lower the result precision. In a simulation step, the system needs to complete links such as data reading, calculation, data transmission and the like, and if the system does not complete the links in a simulation step, the phenomena of data transmission error, data packet loss and the like can be caused, and the system has no real-time property. Therefore, in order to ensure the transmission line decoupling algorithm is effective, the execution actions of the master simulator and the slave simulator should be completed within one simulation step.
In one possible embodiment, the master simulator is further configured to perform the calculation to obtain the current time-step master simulation value and send the previous time-step master simulation value to the slave simulator.
The slave simulator is also used for simultaneously executing calculation to obtain a current time step slave simulation value and sending the previous time step slave simulation value to the master simulator.
It should be noted that, in the present embodiment, the master simulator and the slave simulator perform data transmission and reception and simulation value calculation synchronously, and such a design can reduce the time of data communication by using the time sequence most efficiently, thereby improving the real-time performance of the whole simulation system, and also can improve the time length of the simulation calculation process, so that the time length is closer to the time of one simulation step, thereby improving the scale of the simulation calculation.
In another possible implementation, the master simulator further comprises a master memory, a master controller, a master receiving register and a master sending register, the slave simulator further comprises a slave memory, a slave controller, a slave receiving register and a slave sending register, the master controller is electrically connected with the master memory, the master receiving register and the master sending register respectively, and the slave controller is electrically connected with the slave memory, the slave receiving register and the slave sending register respectively;
the main memory is used for storing the calculated time-step main simulation values.
The slave memory is used for storing the calculated slave simulation values of each time step.
And the main controller is used for reading the last two time step slave simulation values in the main receiving register and the last time step master simulation value in the main memory after the current time step starts, calculating according to the last time step master simulation value and the last two time step slave simulation values to obtain the current time step master simulation value, and storing the current time step master simulation value in the main memory.
The master controller is also used for writing the master simulation value of the last time step into the master sending register and sending the master simulation value to the slave receiving register.
The slave controller is used for reading the last time step master simulation value in the slave receiving register and the last time step slave simulation value in the slave storage, calculating the current time step slave simulation value according to the last time step master simulation value and the last time step slave simulation value, and storing the current time step slave simulation value in the slave storage.
The slave controller is also used for writing the last time step slave simulation value into the slave sending register and sending the slave sending register to the master receiving register.
Further, the main simulator also comprises a timer, and the timer is electrically connected with the main controller.
The timer is used for calculating the simulation step length, when the simulation step length is reached, the current time step is started, and after the current time step is started, the main controller starts to execute the corresponding operation.
In a possible implementation manner, based on the above analysis, the master simulator is in communication connection with each slave simulator through a transmission line, and if the accuracy of simulation and the real-time performance of data communication are to be ensured, the length of the transmission line needs to satisfy the formula:
wherein d is the length of the transmission line; t is tk2mCommunication delay from the master simulator to the slave simulator; t is tm2kIs the communication delay from the emulator to the master emulator; l is the inductance of the transmission line unit length; c is the capacitance per unit length of the transmission line.
Referring to fig. 4, an embodiment of the present application further provides a simulator simulation method, where the method includes:
s101: the main simulator starts the current time step;
s102: the main simulator calculates to obtain a current time step main simulation value according to the last time step main simulation value and the last two time step slave simulation values, and stores the current time step main simulation value;
s103: the master simulator sends the master simulation value of the last time step to the slave simulator;
s104: receiving a last time-step simulation value from the simulator;
s105: the slave simulator receives a previous time step master simulation value, calculates a current time step slave simulation value according to the previous time step master simulation value and the previous time step slave simulation value, and stores the current time step slave simulation value;
s106: the slave simulator sends the last time step slave simulation value to the master simulator.
The master-slave communication architecture and the data communication time sequence provided by the method ensure the synchronization of the simulation time of all the simulators in the simulation system and ensure the communication delay among the simulators to be constant values, thereby realizing the real-time networking simulation of the simulators. In addition, because the time sequences of the simulators are consistent, the number of the slave simulators can be added according to actual needs, and thus the simulation system can be expanded in number.
In another possible embodiment, the above S102 and S103 may be executed simultaneously in the master simulator, that is, the master simulator performs the calculation simultaneously to obtain the current time step master simulation value and sends the previous time step master simulation value to the slave simulator.
The above-mentioned S105 and S106 can be executed simultaneously in the slave simulator, that is, the slave simulator executes the calculation simultaneously to obtain the slave simulation value of the current time step and send the slave simulation value of the previous time step to the master simulator.
The embodiment of the invention also provides a simulator, which is applied to the simulator simulation system, and the simulator simulation system also comprises a main simulator, wherein the simulator is in communication connection with the main simulator.
The simulator is used for receiving the previous time step master simulation value and calculating to obtain the current time step slave simulation value according to the previous time step master simulation value and the previous time step slave simulation value.
The simulator is also used for storing the current time step slave simulation value and sending the last time step slave simulation value to the master simulator.
The embodiment of the invention also provides a simulator simulation method, which is applied to the simulator, the simulator is in communication connection with the main simulator, and the method comprises the following steps:
receiving a previous time step master simulation value, and calculating to obtain a current time step slave simulation value according to the previous time step master simulation value and the previous time step slave simulation value;
and storing the current time step slave simulation value and sending the last time step slave simulation value to the master simulator.
In order to better understand the contents of the present invention, the contents of this embodiment will be further described below by taking a real-time simulator as an example.
Referring to fig. 5, fig. 5 is a schematic diagram of a system architecture of a real-time simulator, where the real-time simulator system includes an upper computer and a real-time simulator, and the two are performing information interaction through an optical fiber. The upper computer is used for constructing a simulation topology, performing simulation control, data monitoring and the like. And compiling and downloading the simulation topology constructed by the upper computer into the real-time simulator for simulation operation. And a simulation computation kernel (namely a CPU) of the real-time simulator is connected with the communication FPGA and other peripheral interfaces through a PCIE interface. The other peripheral interfaces can be analog-to-digital conversion boards such as AO/AI/DO/DI and the like. The communication FPGA is internally provided with an Aurora transceiving protocol and control logic, and is connected with an SFP (Small Form-factor plug) interface of another real-time simulator through a dual-mode optical fiber by utilizing an SFP interface and carries out communication. The Aurora protocol is a point-to-point high-speed serial data transmission protocol developed by Xilinx corporation, and the SFP is an interface device capable of converting gigabit electric signals into optical signals.
Referring to fig. 6, the calculation and communication steps of the main simulator are as follows:
s201: after the timer reaches the simulation step length, the CPU immediately reads the last two time step slave simulation values stored in the receiving register, and then writes the last time step master simulation value into the sending register corresponding to each SFP interface.
S202: the CPU calculates the electrical system according to the previous time step master simulation value and the previous two time step slave simulation values, obtains the current time step master simulation value, and stores the current time step master simulation value into the memory of the CPU for the next time step to be written into the sending register.
S203: once the FPGA detects that a new value is written into the sending register (namely a master simulation value in the last time step), the FPGA immediately sends the value to the slave simulator through the SFP under the Aurora protocol (a plurality of SFPs send simultaneously).
S204: once the SFP of the master simulator receives the optical signal sent from the simulator (multiple SFPs receive asynchronously), the value is written into the corresponding receiving register in the FPGA through the Aurora protocol.
The CPU and the FPGA refer to the CPU and the FPGA in the main simulator.
Referring to fig. 7, the steps of calculating and communicating from the simulator are:
s301: once detecting the position of the simulation starting flag bit, the CPU immediately reads the last time step master simulation value stored in the receiving register, and then writes the last time step slave simulation value into the sending register;
s302: the CPU calculates the electrical system according to the previous time step master simulation value and the previous time step slave simulation value, obtains the slave simulation value of the current time step, and stores the current time step slave simulation value into the memory of the CPU for the next time step to be written into the sending register.
S303: once the FPGA detects that a new value is written in the sending register (namely a slave simulation value in the last time step), the value is sent to the master simulator through the SFP under the Aurora protocol;
s304: once the SFP of the slave simulator receives the optical signal sent by the master simulator, the value is immediately written into a receiving register of the FPGA through an Aurora protocol, and a simulation starting flag bit is set.
The CPU and the FPGA refer to the CPU and the FPGA in the slave simulator.
It can be seen that the master simulator and the slave simulator are different in that the simulation calculation of the master is controlled by a timer, and the slave is triggered and controlled by a set signal after receiving data by the SFP. And the subsequent time sequence steps of the two are consistent, so that the real-time networking simulation of the simulators of the same type is realized.
The above description is only for the specific embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.
Claims (10)
1. A simulator simulation system, which is characterized in that the system comprises a master simulator and at least one slave simulator, wherein the master simulator is connected with each slave simulator in communication; the master simulator is used for generating master simulation values, and the slave simulator is used for generating slave simulation values;
the main simulator is used for calculating to obtain a current time step main simulation value according to a previous time step main simulation value and a previous two time step slave simulation value after the current time step starts;
the master simulator is also used for storing the current time-step master simulation value and sending the previous time-step master simulation value to the slave simulator;
the slave simulator is used for receiving the previous time-step master simulation value and calculating to obtain a current time-step slave simulation value according to the previous time-step master simulation value and the previous time-step slave simulation value;
the slave simulator is also used for storing the current time step slave simulation value and sending the last time step slave simulation value to the master simulator.
2. The simulator simulation system of claim 1 wherein the master simulator is further configured to perform the calculation to obtain a current time-step master simulation value and to send the previous time-step master simulation value to the slave simulator;
the slave simulator is also used for simultaneously executing the calculation to obtain a current time step slave simulation value and sending the previous time step slave simulation value to the master simulator.
3. The simulator simulation system according to claim 1 or 2 wherein the master simulator further comprises a master memory, the slave simulator further comprises a slave memory;
the main memory is used for storing each time step main simulation value obtained by calculation;
the slave memory is used for storing each time step slave simulation value obtained by calculation.
4. The emulator simulation system of claim 3, wherein the master emulator further comprises a master controller, a master receive register, and a master transmit register, and the slave emulator comprises a slave controller, a slave receive register, and a slave transmit register;
the main controller is electrically connected with the main receiving register and the main sending register respectively;
the slave controller is electrically connected with the slave receiving register and the slave sending register respectively;
the main controller is used for reading the last two time step slave simulation values in the main receiving register and the last time step master simulation value in the main memory after the current time step starts, calculating to obtain a current time step master simulation value according to the last time step master simulation value and the last two time step slave simulation values, and storing the current time step master simulation value in the main memory;
the master controller is further configured to write the last time-step master simulation value into the master sending register and send the master simulation value to the slave receiving register;
the slave controller is used for reading the previous time step master simulation value in the slave receiving register and the previous time step slave simulation value in the slave storage, calculating to obtain a current time step slave simulation value according to the previous time step master simulation value and the previous time step slave simulation value, and storing the current time step slave simulation value in the slave storage;
and the slave controller is also used for writing the last time step slave simulation value into the slave sending register and sending the slave sending register to the master receiving register.
5. The simulator simulation system of claim 4 wherein the master simulator further comprises a timer, the timer being electrically connected to the master controller;
the timer is used for calculating the simulation step length, and the current time step is started when the simulation step length is reached.
6. The emulator simulation system of claim 1, wherein the master emulator is communicatively coupled to each of the slave emulators via a transmission line, the length of the transmission line satisfying the formula:
wherein d is the length of the transmission line; t is tkmA communication delay for the master simulator to the slave simulator; t is tmkA communication delay for the slave simulator to the master simulator; l is the inductance per unit length of the transmission line; and C is the capacitance per unit length of the transmission line.
7. A simulator simulation method applied to the simulator simulation system of any one of claims 1 to 6, the method comprising;
after the current time step starts, the main simulator calculates a current time step main simulation value according to a previous time step main simulation value and a previous two time step slave simulation value, and stores the current time step main simulation value; sending the previous time step master simulation value to the slave simulator;
the slave simulator receives the previous time-step master simulation value, calculates a current time-step slave simulation value according to the previous time-step master simulation value and the previous time-step slave simulation value, and stores the current time-step slave simulation value; and sending the last time step from the simulation value to the main simulator.
8. The simulator simulation method of claim 7, wherein the master simulator performs the calculation to obtain a current time-step master simulation value and sends the previous time-step master simulation value to the slave simulator;
and the slave simulator simultaneously executes the calculation to obtain a current time step slave simulation value and sends the previous time step slave simulation value to the master simulator.
9. A simulator for use in the simulator simulation system of any one of claims 1 to 6, the simulator simulation system further comprising a master simulator, the simulator being communicatively coupled to the master simulator;
the simulator is used for receiving a previous time step master simulation value, and calculating to obtain a current time step slave simulation value according to the previous time step master simulation value and the previous time step slave simulation value;
the simulator is also used for storing the current time step slave simulation value and sending the last time step slave simulation value to the main simulator.
10. A simulator simulation method applied to the simulator of claim 9, wherein the simulator is connected in communication with a host simulator, the method comprising:
receiving a previous time step master simulation value, and calculating to obtain a current time step slave simulation value according to the previous time step master simulation value and the previous time step slave simulation value;
and storing the current time step slave simulation value, and sending the last time step slave simulation value to the master simulator.
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