CN117518878A - Real-time control system virtual integrated architecture and simulation verification method - Google Patents
Real-time control system virtual integrated architecture and simulation verification method Download PDFInfo
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Abstract
The invention belongs to the technical field of system simulation test, and discloses a real-time control system virtual integrated architecture and a simulation verification method, which comprise the following steps: the real-time control system body and the external environment of the real-time control system; dividing the internal nodes forming the real-time control system body into calculation nodes and sensing actuation nodes, wherein the sensing actuation nodes comprise sensing nodes and actuation nodes; the external environment of the real-time control system is an external physical environment where the real-time control system is operated, and the external environment of the real-time control system has interaction with the sensing actuation node. The method and the device realize verification of correctness of function design of the real-time control system and rationality of system interface planning, and verification of time sequence relation of node information interaction and correctness of interfaces in the real-time control system.
Description
Technical Field
The invention belongs to the technical field of system simulation test, and particularly relates to a real-time control system virtual integration architecture and a simulation verification method.
Background
In recent years, the use of computer simulations in the field of real-time control systems has become increasingly important. On one hand, as the complexity of the embedded software in the real-time control system is steadily increased, and the development period of the control system is continuously shortened, a new verification method is needed to ensure that the functions and the related performances realized by the embedded software in the system meet the requirements of the system. On the other hand, the huge progress in the information technology field enables the computing capacity of the computer to be rapidly increased, and the requirement of computer simulation on computing resources can be met.
The use of simulation techniques in the development of real-time control systems has several reasons: 1) The system cannot be completely tested in the real physical environment of the system (such as the fields of aerospace and the like), so that the external physical environment of the system work needs to be simulated; 2) Depending on the design requirements of the control system, the system may need to face a wide variety of different test scenarios (which may be dangerous) with simulation that can be tested without any significant cost impact.
At present, the simulation of a real-time control system is mainly focused on the integrated simulation of a system simulation model, and the test and verification of embedded software which finally and truly runs the system are not included; aiming at the virtual simulation test of specific embedded software, the simulation of functions in a single computing node in a system is more prone to be realized, and verification of functions of the whole system is not realized. Therefore, the system verification has higher dependence on the physical environment, and some system design defects cannot be exposed in the system design stage, so that the development progress and the modification cost of the system are increased.
Disclosure of Invention
The purpose of the invention is that: the system provides a full-digital simulation running environment of the whole system for the detailed design function of the real-time control system, and provides a virtual running environment for the running of the functional software of the real-time control system. The virtual integration and verification of the real-time control system, the simulation verification of functions and functional interaction of the real-time control system are realized through the simulation of each functional component, system external equipment, system operation physical environment and system internal/external interfaces in the real-time control system, and finally, the verification of the correctness of the functional design of the real-time control system and the rationality of the interface planning of the real-time control system and the verification of the time sequence relation of node information interaction and the correctness of the interfaces in the real-time control system are realized.
The technical scheme of the invention is as follows:
in a first aspect, the present invention provides a real-time control system virtual integration architecture, the architecture comprising: the real-time control system body and the external environment of the real-time control system;
dividing the internal nodes forming the real-time control system body into calculation nodes and sensing actuation nodes, wherein the sensing actuation nodes comprise sensing nodes and actuation nodes;
the external environment of the real-time control system is an external physical environment where the real-time control system is operated, and the external environment of the real-time control system has interaction with the sensing actuation node.
Further, the method comprises the steps of,
the computing nodes realize the distribution of computing resources of the real-time control system, one or more computing tasks can be distributed to the same computing node, but the same computing task is not divided into a plurality of computing nodes to be executed;
the sensing actuation node is a node which interacts with the external environment in the real-time control system, acquires the states of the external environment, transmits the states to the computing node, and realizes the change of the relative states of the real-time control system and the external environment according to the control quantity output by the computing node by the actuation node, thereby realizing the control function.
Further, the method comprises the steps of,
the architecture further includes: a real-time task interface, a task boundary interface, and a physical environment interface;
the real-time task interface is an interactive interface between computing nodes of the real-time control system, and the internal data stream is a digital signal;
the task boundary interface is an interactive interface between a calculation node and a sensing actuation node of the real-time control system, and the internal data flow is sensing information after energy conversion and actuation control information before energy conversion;
the physical environment interface is an interaction interface between the real-time control system and the external environment, and the internal data flow is energy interaction information between the sensing actuation node and the external environment;
the computing node can only conduct information interaction through a real-time task interface or a task boundary interface, the sensing actuation node can only conduct information interaction through a task boundary interface or a physical environment interface, and the external environment can only conduct information interaction through a physical environment interface.
Further, the method comprises the steps of,
the architecture further includes: three types of virtual communication buses for internal and external data interaction;
the three types of virtual communication buses respectively realize data interaction among the real-time task interface, the task boundary interface and the physical environment interface, the data interfaces among the nodes in the three types of virtual communication buses are defined as virtual network links connected in pairs, and each node realizes access of the corresponding virtual communication bus through a virtual gateway.
Further, the method comprises the steps of,
the architecture further includes: setting a scheduling mechanism adopted by running tasks in the nodes;
the scheduling mechanism is a task scheduling mechanism based on time triggering, and then an independent simulation engine performs unified task scheduling, and task scheduling is realized through a time window triggered by a period;
the scheduling mechanism is a non-time triggering task scheduling mechanism, and each node performs task scheduling according to the period.
In a second aspect, the present invention further provides a simulation verification method for a virtual integrated architecture of a real-time control system, for simulation verification of an architecture according to the first aspect, the method comprising:
step 1: carrying out structural classification on the real-time control system, and classifying the real-time control system into a real-time control system body and an external environment;
step 2: classifying the internal nodes forming the real-time control system body into computing nodes and sensing actuation nodes according to task types of the nodes for realizing the functions of the real-time control system;
step 3: classifying interfaces between nodes in the real-time control system body and between the real-time control system body and an external environment into a real-time task interface, a task boundary interface and a physical environment interface;
step 4: defining data interfaces among various nodes in the real-time control system as virtual network links which are connected in pairs, wherein the virtual network links are respectively deployed in different interface types;
step 5: determining a task scheduling mechanism in each node, wherein the task scheduling mechanism comprises a time-triggered task scheduling mechanism and a non-time-triggered task scheduling mechanism;
step 6: performing node simulation program development on various nodes in the real-time control system according to the functional tasks;
step 7: the simulation programs of all nodes are integrated through a virtual communication bus;
step 8: the real-time control system starts to operate through the dispatching of the simulation engine;
step 9: the test engine injects test excitation into the input ports of all nodes in the real-time control system according to the test cases of the real-time control system by accessing the virtual communication bus gateway, and monitors the states of the nodes or the output port interfaces of other nodes, so as to realize test verification of the functions of the real-time control system.
Further, the method comprises the steps of,
the step 6 specifically comprises the following steps:
according to the embedded software code for realizing the node function task and the virtual communication gateway interface, the node simulation program development is realized;
and generating codes according to the node model and realizing node simulation program development with the virtual communication gateway interface.
Further, the method comprises the steps of,
when the internal node of the real-time control system is realized by a physical product:
in step 4: changing a gateway of an input/output virtual link of a node realized by a physical product into a real physical hardware;
in step 7: the input and output virtual links of the physical product realization node are changed into physical cables, and other nodes are integrated with the physical product realization node through a virtual communication bus.
The invention has the beneficial effects that:
the functional test verification of the real-time control system is advanced to a design stage through the full-digital simulation environment of the real-time control system, the parallelism between the test verification and the functional performance design of the product is realized, and the correctness of the design of the real-time control system is verified in advance through virtual simulation verification and later-stage physical verification and reconversion in the design stage of the real-time control system.
In the full-digital simulation verification of the real-time control system, the test cases can be automatically executed, the system verification efficiency is improved, a verification case script can be provided for the verification of the real-time control system physical environment, and the real-time control system physical environment verification efficiency is improved.
The system can be used as a component of the real-time control system functional software and a prototype running environment of the configuration item, provides support for verification and test of the real-time control system software functional behavior, and solves the problem that the software test verification environment depends on hardware objects.
The full digital simulation of the real-time control system can perform real-time, super-real-time or even single-step full system operation simulation, combines real-time observation and analysis of virtual link data, provides support for accurate debugging, integration and fault positioning of the real-time control system, and solves the problems of insufficient real-time control system physical environment observation means and difficult test data acquisition.
Drawings
FIG. 1 is a schematic diagram of a real-time control system structured classification composition and interaction relationship according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a real-time control system full-digital simulation virtual integration architecture according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of an execution flow of all-digital simulation verification of the real-time control system according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a typical real-time control system according to an embodiment of the present invention;
fig. 5 is a schematic diagram of an exemplary real-time control system all-digital simulation virtual integration architecture according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention more clear, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.
The invention provides a virtual integrated architecture of a real-time control system, which comprises the following components:
a structural classification description mode of a real-time control system is designed, a virtual integrated architecture of the real-time control system is designed aiming at the description mode, an implementation flow and a method of full digital simulation of the system are provided aiming at the architecture, and a flow and a method for implementing verification test of the system according to the full digital simulation are provided.
Firstly, carrying out structural classification description on a real-time control system. And determining the concept of the real-time control system, wherein the concept comprises a real-time control system body and a system external environment. As shown in fig. 1, the internal nodes that constitute the real-time control system body are classified into a computing node and a sensing actuation node according to their operation modes in the physical world.
The computing nodes realize the distribution of computing resources of the real-time control system, and the core computing function tasks of the real-time control system are born by the computing nodes. The same computing node may be assigned one or more computing function tasks, but the same computing task is not split among multiple computing nodes for execution.
The sensing actuation node is a node which generates energy interaction with the external environment in the real-time control system, the sensing node acquires the state of the external environment by sensing the change of mechanical energy, heat energy and the like, and transmits the states to the computing node, and the actuation node changes the mechanical energy, heat energy and the like of the real-time control system acting on the external environment according to the control quantity output by the computing node, so that the change of the relative state of the real-time control system and the external environment is realized, and finally the function of the real-time control system is realized. The computing node and the sensing actuation node may physically belong to the same subsystem (or component) of the real-time control system, but the subsystem (or component) should be decomposed into two or more nodes for description, depending on the type of task it is specifically performing.
The external environment of the real-time control system is an external physical environment where the system is operated, and the external environment of the real-time control system and the sensing actuation node have interaction of mechanical energy, heat energy and the like.
As shown in fig. 2, interfaces between nodes inside the real-time control system body and between the system body and the external environment are classified into a real-time task interface, a task boundary interface, and a physical environment interface. The real-time task interface is an interactive interface between computing nodes of the real-time control system, internal data are digital signals, the task boundary interface is an interactive interface between the computing nodes of the real-time control system and the sensing actuation nodes, the internal data flow is sensing information after energy conversion and actuation control information before energy conversion, the physical environment interface is an interactive interface between the real-time control system and an external environment, and the internal data flow is energy interactive information between the sensing actuation nodes and the external environment. According to the interactive information types in the three types of interfaces, the computing node can only conduct information interaction through a real-time task interface or a task boundary interface, the sensing actuation node can only conduct information interaction through a task boundary interface or a physical environment interface, and the external environment can only conduct information interaction through a physical environment interface.
The real-time control system virtual integration architecture provides three types of virtual communication buses for the internal and external data interaction of the real-time control system, respectively realizes the data interaction among a real-time task interface, a task boundary interface and a physical environment interface, defines the data interfaces among various nodes in the three types of interfaces as virtual network links connected in pairs, and the virtual network links realize the communication of data messages through the virtual communication buses and the various nodes realize the access to the virtual communication buses through virtual gateways. When the system is integrated, the switching between the system node simulation and the node real object can be realized by changing the realization modes of the three types of interface virtual communication buses.
The real-time control system virtual integration architecture adopts a specific scheduling mechanism for running tasks in different types of nodes, performs unified scheduling on calculation tasks based on time triggering by an independent simulation engine, and realizes scheduling through a time window (execution starting time of each task and execution duration time) triggered by a period; aiming at non-time triggering tasks, each node simulates to perform task execution simulation according to the period.
In the virtual integrated architecture, the development of the node task simulation program can be realized through an embedded software code for realizing the node function task, and for the node (such as a part of sensing actuation nodes and environment nodes) which does not complete the development of the embedded software code or realize the function task through the embedded software, the development of the node simulation program is realized through codes generated by a model or model simulation, and the node simulation program realizes the dispatching of a virtual communication bus through the interface call of a virtual gateway.
The simulation program of each node in the real-time control system realizes cross-linking through a virtual communication bus, so as to achieve full-digital simulation virtual integration of the system. After the real-time control system completes virtual integration, the test engine injects test excitation into the input ports of all nodes in the system according to the test cases of the real-time control system by accessing the virtual communication bus gateway, and monitors the states of the nodes or the output end interfaces of other nodes, so as to realize the test of the function realization of the real-time control system. By the testing method, the functional performance of the real-time control system can be tested, and related tests can be carried out on the independent nodes, so that the testing and verification of different levels of the real-time control system can be realized.
The real-time control system all-digital simulation system can realize the test and verification of the real object of the computing node by changing the implementation mode of the virtual communication bus of the task boundary interface and replacing the computing node in the real-time control system all-digital simulation with the real object product. The real-time control system all-digital simulation calculation node and the sensing actuation node can be replaced by physical products through changing the implementation mode of the virtual communication bus of the physical environment interface, and the test and verification of the physical objects of the calculation node and the sensing actuation node can be realized.
Embodiment one: a typical real-time control system all-digital simulation implementation flow is shown in fig. 3.
The typical real-time control system is shown in fig. 4, and consists of a control input sensor, a control computer, an executing mechanism, a controlled object and a detection device, wherein the control computer comprises an AD conversion, a control law calculation program and a DA conversion.
Step 1: the method comprises the steps of carrying out structural classification on a typical real-time control system, wherein a control input sensor, a control computer, an executing mechanism and a detection device are used for simulating a control system body, and a control input object and a controlled object are used for simulating an external environment.
Step 2: and classifying the internal nodes forming the real-time control system body into calculation nodes and sensing actuation nodes according to the task types of the nodes for realizing the system functions.
The AD conversion is completed to convert the electric signal into a digital signal, the control law calculation program is completed to control law calculation, the DA conversion is completed to convert the control quantity into an electric signal, and the three nodes are classified as calculation nodes; the input sensor acquires the state change of the control input, converts the change into an electric signal, transmits the electric signal to the AD module, and the executing mechanism changes the state of the controlled object according to the mechanical energy, the thermal energy and the like of the controlled object acted on by the control quantity electric signal changing system, the detecting device acquires the state change of the controlled object, converts the change into the electric signal, transmits the electric signal to the AD module, and classifies the three nodes as sensing actuation nodes.
Step 3: interfaces between nodes in the real-time control system body and between the real-time control system body and an external environment are classified into a real-time task interface, a task boundary interface and a physical environment interface.
An interactive interface between AD conversion and control law calculation and between control law calculation and DA conversion belongs to a real-time task interface; the interaction interfaces between the AD conversion and the control input sensor, between the AD conversion and the detection device and between the DA conversion and the execution mechanism are task boundary interfaces; the interaction interfaces between the control input and the control input sensor, between the executing mechanism and the controlled object, and between the controlled object and the detection device are physical environment interfaces.
Step 4: the data interfaces between various nodes in the real-time control system are defined as virtual network links which are connected in pairs, and the virtual network links are respectively deployed in different interface types.
Defining a data interface for transmitting AD conversion to control law calculation and a data interface for transmitting control law calculation to DA conversion as a virtual link deployed in a real-time task interface; the data interface which is transmitted to the AD conversion by the control input sensor, the data interface which is transmitted to the AD conversion by the detection device and the data interface which is transmitted to the execution mechanism by the DA conversion is defined as a virtual link which is deployed in the task boundary interface; the data interface for transmitting the control input to the control input sensor, the data interface for transmitting the execution mechanism to the controlled object and the data interface for transmitting the controlled object to the detection device are defined as virtual links deployed in the physical environment interface.
Step 5: and determining an internal execution task scheduling mechanism of each node, and determining a time-triggered task execution period and an execution time window and a non-time-triggered task execution period.
The simulation operation period of the control input sensor, the detection device, the execution mechanism, the controlled object and the control input is determined for the execution time window of DA conversion, control law calculation and AD conversion in one operation period.
Step 6: and realizing node simulation program development according to the embedded software codes for realizing node function tasks and the virtual gateway interface.
The development of control law calculation simulation programs is realized by using embedded software codes of control law calculation and control law calculation input and output virtual link gateway interface codes.
Step 7: and generating codes and a virtual gateway interface according to the node model to realize node simulation program development.
The node simulation program development is realized by using codes generated by AD conversion, DA conversion, a control input sensor, a detection device, an execution mechanism and a model of a controlled object and the node input/output virtual link gateway interface codes.
And designing an interface window to simulate control input, and using the interface related code and the control input node output virtual link gateway interface code to realize the development of the control input node simulation program.
Step 8: the node simulation programs are integrated through a virtual communication bus.
And creating a shared memory, providing communication support for virtual links in the three types of interfaces, realizing interaction among all nodes of the system, and completing system integration.
Step 9: the real-time control system all-digital simulation starts to run through the dispatching of the simulation engine.
The simulation engine schedules DA conversion, control law calculation and AD conversion to run simulation programs in a planned time window, and controls the input sensor, the detection device, the execution mechanism, the controlled object and the simulation control input node simulation programs to execute the simulation programs according to respective running periods.
Step 10: the test engine injects test excitation into the input ports of all nodes in the system according to the system test cases by accessing the virtual communication bus gateway, and monitors the states of the nodes or the output port interfaces of other nodes, so as to realize the test of the system function.
The design test cases are:
1. injecting test excitation into the control input node simulation output link;
2. delaying for a period of time;
3. and observing whether the state change of the controlled object is consistent with the system function or not in the output link of the controlled object.
And writing a test script according to the test cases, and executing the test script through a test engine to realize test verification of the control function of the typical control system.
Embodiment two:
the calculation node of the real-time control system in the first embodiment is realized by a physical product. Namely, DA conversion, control law calculation, AD conversion are realized by a control computer that realizes a control function.
In step 4: the gateway realization of the input/output virtual link of the replaced node is changed into the realization of the driving simulation board card.
The method comprises the steps that a virtual link of AD conversion from a control input sensor and a virtual link gateway of AD conversion from a detection device are changed into a signal injection for driving a DA simulation board card to realize the AD conversion input link of a control computer;
the virtual link gateway realization of DA conversion transmission to the actuating mechanism is changed into the drive AD acquisition board card to realize the signal acquisition of the AD conversion output link of the control computer.
In step 8: the computing node and the sensing actuation node are integrated through a physical cable, and the sensing actuation node and the external environment simulation program are integrated through a virtual communication bus.
The control computer is connected with the DA simulation board card and the AD acquisition board card in the simulation computer through the physical cable, the control input is transmitted to the virtual link of the control input sensor, the execution mechanism is transmitted to the virtual link of the controlled object, and the controlled object is transmitted to the virtual link of the detection device, so that data interaction is realized through the shared memory.
Step 9: the real-time control system all-digital simulation starts to run through the dispatching of the simulation engine.
The simulation engine dispatches the control input sensor, the detection device, the executing mechanism, the controlled object and the simulation control input node simulation program to execute the simulation program according to the respective operation period, and controls the computer to be electrified and run.
Step 10: the test engine injects test excitation into the input ports of all nodes in the real-time control system according to the real-time control system test case by accessing the virtual communication bus gateway, so as to realize the test of system functions in the semi-physical environment.
The test engine executes the test script in the embodiment 1, so as to realize test and verification of the control function of the real-time control system and realize test and verification of the function of the object control computer.
The invention has the beneficial effects that:
the functional test verification of the real-time control system is advanced to a design stage through the full-digital simulation environment of the real-time control system, the parallelism between the test verification and the functional performance design of the product is realized, and the correctness of the design of the real-time control system is verified in advance through virtual simulation verification and later physical verification and reconversion in the system design stage.
In the full-digital simulation verification of the real-time control system, the test cases can be automatically executed, the verification efficiency of the real-time control system is improved, a verification case script can be provided for the verification of the real-time control system physical environment, and the verification efficiency of the real-time control system physical environment is improved.
The system can be used as a component of the real-time control system functional software and a prototype running environment of the configuration item, provides support for verification and test of the real-time control system software functional behavior, and solves the problem that the software test verification environment depends on hardware objects.
The full digital simulation of the real-time control system can perform real-time, super-real-time or even single-step full system operation simulation, combines real-time observation and analysis of virtual link data, provides support for accurate debugging, integration and fault positioning of the real-time control system, and solves the problems of insufficient real-time control system physical environment observation means and difficult test data acquisition.
Claims (8)
1. A real-time control system virtual integration architecture, the architecture comprising: the real-time control system body and the external environment of the real-time control system;
dividing the internal nodes forming the real-time control system body into calculation nodes and sensing actuation nodes, wherein the sensing actuation nodes comprise sensing nodes and actuation nodes;
the external environment of the real-time control system is an external physical environment where the real-time control system is operated, and the external environment of the real-time control system has interaction with the sensing actuation node.
2. The virtual integrated architecture of claim 1, wherein,
the computing nodes realize the distribution of computing resources of the real-time control system, one or more computing tasks can be distributed to the same computing node, but the same computing task is not divided into a plurality of computing nodes to be executed;
the sensing actuation node is a node which interacts with the external environment in the real-time control system, acquires the states of the external environment, transmits the states to the computing node, and realizes the change of the relative states of the real-time control system and the external environment according to the control quantity output by the computing node by the actuation node, thereby realizing the control function.
3. The real time control system virtual integration architecture of claim 1, further comprising: a real-time task interface, a task boundary interface, and a physical environment interface;
the real-time task interface is an interactive interface between computing nodes of the real-time control system, and the internal data stream is a digital signal;
the task boundary interface is an interactive interface between a calculation node and a sensing actuation node of the real-time control system, and the internal data flow is sensing information after energy conversion and actuation control information before energy conversion;
the physical environment interface is an interaction interface between the real-time control system and the external environment, and the internal data flow is energy interaction information between the sensing actuation node and the external environment;
the computing node can only conduct information interaction through a real-time task interface or a task boundary interface, the sensing actuation node can only conduct information interaction through a task boundary interface or a physical environment interface, and the external environment can only conduct information interaction through a physical environment interface.
4. The real time control system virtual integration architecture of claim 1, further comprising: three types of virtual communication buses for internal and external data interaction;
the three types of virtual communication buses respectively realize data interaction among the real-time task interface, the task boundary interface and the physical environment interface, the data interfaces among the nodes in the three types of virtual communication buses are defined as virtual network links connected in pairs, and each node realizes access of the corresponding virtual communication bus through a virtual gateway.
5. The real time control system virtual integration architecture of claim 1, further comprising: setting a scheduling mechanism adopted by running tasks in the nodes;
the scheduling mechanism is a task scheduling mechanism based on time triggering, and then an independent simulation engine performs unified task scheduling, and task scheduling is realized through a time window triggered by a period;
the scheduling mechanism is a non-time triggering task scheduling mechanism, and each node performs task scheduling according to the period.
6. A method for simulation verification of a virtual integrated architecture of a real-time control system, for simulation verification of an architecture according to any one of claims 1-5, the method comprising:
step 1: carrying out structural classification on the real-time control system, and classifying the real-time control system into a real-time control system body and an external environment;
step 2: classifying the internal nodes forming the real-time control system body into computing nodes and sensing actuation nodes according to task types of the nodes for realizing the functions of the real-time control system;
step 3: classifying interfaces between nodes in the real-time control system body and between the real-time control system body and an external environment into a real-time task interface, a task boundary interface and a physical environment interface;
step 4: defining data interfaces among various nodes in the real-time control system as virtual network links which are connected in pairs, wherein the virtual network links are respectively deployed in different interface types;
step 5: determining a task scheduling mechanism in each node, wherein the task scheduling mechanism comprises a time-triggered task scheduling mechanism and a non-time-triggered task scheduling mechanism;
step 6: performing node simulation program development on various nodes in the real-time control system according to the functional tasks;
step 7: the simulation programs of all nodes are integrated through a virtual communication bus;
step 8: the real-time control system starts to operate through the dispatching of the simulation engine;
step 9: the test engine injects test excitation into the input ports of all nodes in the real-time control system according to the test cases of the real-time control system by accessing the virtual communication bus gateway, and monitors the states of the nodes or the output port interfaces of other nodes, so as to realize test verification of the functions of the real-time control system.
7. The method for simulating and verifying a virtual integrated architecture of a real-time control system according to claim 6, wherein the step 6 specifically comprises:
according to the embedded software code for realizing the node function task and the virtual communication gateway interface, the node simulation program development is realized;
and generating codes according to the node model and realizing node simulation program development with the virtual communication gateway interface.
8. The method for simulation verification of a virtual integrated architecture of a real-time control system according to claim 6, wherein when the internal nodes of the real-time control system are implemented by physical products:
in step 4: changing a gateway of an input/output virtual link of a node realized by a physical product into a real physical hardware;
in step 7: the input and output virtual links of the physical product realization node are changed into physical cables, and other nodes are integrated with the physical product realization node through a virtual communication bus.
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