A virtual integration device and simulation verification method for a real-time control system

Abstract

This invention belongs to the field of system simulation and testing technology, and discloses a virtual integrated device and simulation verification method for a real-time control system. It includes: a real-time control system body and a real-time control system external environment; dividing the internal nodes constituting the real-time control system body into computing nodes and sensing / actuating nodes, wherein the sensing / actuating nodes include sensing nodes and actuating nodes; the real-time control system external environment is the external physical environment in which the real-time control system operates, and there is an interaction between the real-time control system external environment and the sensing / actuating nodes. This invention verifies the correctness of the real-time control system's functional design and the rationality of the system interface planning, as well as the timing relationship of information interaction between nodes within the real-time control system and the correctness of the interfaces.

Description

Technical Field

[0001] This invention belongs to the field of system simulation and testing technology, specifically relating to a virtual integration device for a real-time control system and a simulation verification method. Background Technology

[0002] In recent years, computer simulation has become increasingly important in the field of real-time control systems. This is due, on the one hand, to the steadily increasing complexity of embedded software in real-time control systems and the continuously shortening development cycle, necessitating new verification methods to ensure that the functions and related performance of the embedded software meet system requirements. On the other hand, the tremendous advancements in information technology have led to a rapid increase in computer computing power, which can meet the computational resource demands of computer simulation.

[0003] There are several reasons for using simulation technology in the development of real-time control systems: 1) The system cannot be tested in its real physical environment (such as in aerospace and other fields), so it is necessary to simulate the external physical environment in which the system works; 2) Depending on the design requirements of the control system, the system may need to face a variety of different test scenarios (which may be dangerous), and simulation can be used to test the system without any significant cost impact.

[0004] Currently, simulations of real-time control systems mainly focus on the integrated simulation of system simulation models, without including the testing and verification of the embedded software that ultimately runs the system. Furthermore, virtual simulation testing of specific embedded software often tends to focus on simulating the functions implemented in individual computing nodes within the system, failing to verify the overall system functionality. Therefore, system verification is highly dependent on the physical environment, and some system design flaws cannot be exposed during the system design phase, leading to increased system development timelines and modification costs. Summary of the Invention

[0005] The purpose of this invention is to provide a fully digital simulation environment for the detailed design of real-time control systems, and to provide a virtual operating environment for the operation of the real-time control system's functional software. Through simulation of various functional components within the real-time control system, external devices, the system's physical operating environment, and internal / external interfaces, the invention achieves virtual integration and verification of the real-time control system. It also simulates and verifies the functions and interactions of the real-time control system, ultimately verifying the correctness of the real-time control system's functional design, the rationality of its interface planning, and the timing relationships and correctness of node information interactions within the real-time control system.

[0006] The technical solution of the present invention:

[0007] In a first aspect, the present invention provides a virtual integration device for a real-time control system, the device comprising: a real-time control system body and a real-time control system external environment;

[0008] The internal nodes that make up the real-time control system body are divided into computing nodes and sensing and actuation nodes, wherein the sensing and actuation nodes include sensing nodes and actuation nodes.

[0009] The external environment of a real-time control system is the external physical environment in which the real-time control system operates. The external environment of the real-time control system interacts with the sensing and actuation nodes.

[0010] Furthermore,

[0011] Computing nodes are used to allocate computing resources to the real-time control system. A single computing node can be assigned one or more computing tasks, but the same computing task will not be split across multiple computing nodes for execution.

[0012] Sensor-actuator nodes are nodes in a real-time control system that interact with the external environment. Sensor nodes acquire the state of the external environment and transmit these states to computing nodes. Actuator nodes, based on the control quantities output by computing nodes, realize the change of the relative state between the real-time control system and the external environment, thereby achieving the control function.

[0013] Furthermore,

[0014] The device also includes: a real-time task interface, a task boundary interface, and a physical environment interface;

[0015] The real-time task interface refers to the interaction interface between computing nodes of a real-time control system, and the internal data flow is a digital signal;

[0016] The task boundary interface refers to the interaction interface between the computing node and the sensing and actuation node of the real-time control system. The internal data flow consists of sensing information after energy conversion and actuation control information before energy conversion.

[0017] The physical environment interface refers to the interaction interface between the real-time control system and the external environment, while the internal data flow is the energy interaction information between the sensing and actuation nodes and the external environment.

[0018] Computing nodes can only exchange information through the real-time task interface or the task boundary interface, sensing and actuation nodes can only exchange information through the task boundary interface or the physical environment interface, and the external environment can only exchange information through the physical environment interface.

[0019] Furthermore,

[0020] The device also includes three types of virtual communication buses for internal and external data interaction;

[0021] The three types of virtual communication buses respectively realize data interaction in the real-time task interface, task boundary interface and physical environment interface. The data interface between each node in the three types of virtual communication buses is defined as a virtual network link connected in pairs. Each node accesses the corresponding virtual communication bus through a virtual gateway.

[0022] Furthermore,

[0023] The device further includes: setting the scheduling mechanism used by the tasks running in the node;

[0024] The scheduling mechanism is a time-triggered task scheduling mechanism, in which a separate simulation engine performs unified task scheduling, and task scheduling is achieved through a periodically triggered time window;

[0025] The scheduling mechanism is a non-time-triggered task scheduling mechanism, in which each node performs task scheduling on a periodic basis.

[0026] In a second aspect, the present invention also provides a simulation verification method for a virtual integrated device of a real-time control system, used for simulating and verifying the device as described in the first aspect, the method comprising:

[0027] Step 1: Classify the real-time control system into two categories: the real-time control system itself and the external environment.

[0028] Step 2: Classify the internal nodes that make up the real-time control system body according to the task type of the real-time control system function implemented by the node, and classify them into computing nodes and sensing and actuation nodes.

[0029] Step 3: Classify the interfaces between internal nodes of the real-time control system and between the real-time control system and the external environment into real-time task interfaces, task boundary interfaces, and physical environment interfaces.

[0030] Step 4: Define the data interfaces between various nodes in the real-time control system as virtual network links that are connected in pairs, and deploy the virtual network links in different interface types;

[0031] Step 5: Determine the task scheduling mechanism within each node. The task scheduling mechanism includes time-triggered task scheduling mechanism and non-time-triggered task scheduling mechanism.

[0032] Step 6: Develop node simulation programs for various nodes in the real-time control system according to their functional tasks;

[0033] Step 7: The simulation programs for each node are integrated via a virtual communication bus;

[0034] Step 8: The real-time control system starts running through the simulation engine.

[0035] Step 9: The test engine accesses the virtual communication bus gateway, injects test stimuli into the input ports of each node in the real-time control system according to the test cases of the real-time control system, and monitors the status at the output interface of the node or other nodes to realize the test and verification of the functions of the real-time control system.

[0036] Furthermore,

[0037] Step 6 specifically includes:

[0038] The node simulation program was developed based on the embedded software code that implements the node's functional tasks and the virtual communication gateway interface.

[0039] Node simulation program development is achieved by generating code based on the node model and implementing the virtual communication gateway interface.

[0040] Furthermore,

[0041] When the internal nodes of a real-time control system are implemented using physical products:

[0042] In step 4: the gateway that implements the input and output virtual links of the nodes, which is a physical product, is replaced with a driver that drives real physical hardware;

[0043] In step 7: the input and output virtual links of the physical product implementation node are changed to physical cables, and other nodes are integrated with the physical product implementation node through a virtual communication bus.

[0044] The beneficial effects of this invention are:

[0045] By using a fully digital simulation environment for real-time control system functions, the testing and verification of real-time control system functions are moved forward to the design stage, enabling parallel testing and verification with product function and performance design. In the design stage of the real-time control system, the emphasis is shifted to both virtual simulation verification and subsequent physical verification, allowing for early verification of the correctness of the real-time control system design.

[0046] In the all-digital simulation verification of real-time control systems, test cases can be executed automatically, improving the efficiency of system verification. It can also provide verification test case scripts for the verification of real-time control systems in physical environments, thereby improving the efficiency of real-time control system physical environment verification.

[0047] It can serve as a prototype runtime environment for components and configuration items of real-time control system functional software, providing support for the verification and testing of real-time control system software functional behavior, and solving the dependence of software testing and verification environments on physical hardware.

[0048] The all-digital simulation of real-time control systems can perform real-time, ultra-real-time, and even single-step level full-system operation simulation. Combined with real-time observation and analysis of virtual link data, it provides support for accurate debugging, integration, and fault location of real-time control systems, solving the problems of insufficient physical environment observation methods and difficulty in acquiring test data for real-time control systems. Attached Figure Description

[0049] Figure 1 This is a schematic diagram illustrating the structured classification and interaction relationships of a real-time control system provided in an embodiment of the present invention.

[0050] Figure 2 A schematic diagram of a fully digital simulation virtual integrated device for a real-time control system provided in an embodiment of the present invention;

[0051] Figure 3 This is a schematic diagram of the all-digital simulation verification execution process of the real-time control system provided in an embodiment of the present invention;

[0052] Figure 4 This is a schematic diagram of a typical real-time control system provided in an embodiment of the present invention;

[0053] Figure 5 This is a schematic diagram of a typical real-time control system fully digital simulation virtual integrated device provided in an embodiment of the present invention. Detailed Implementation

[0054] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings.

[0055] This invention provides a virtual integration device for a real-time control system, comprising:

[0056] A structured classification and description method for real-time control systems is designed. A virtual integrated device for real-time control systems is designed based on this description method. The implementation process and method of full digital simulation of the system are proposed for this device. The verification and testing process and method of the system based on the full digital simulation are also proposed.

[0057] First, a structured classification and description of real-time control systems is provided. The concept of a real-time control system is defined, including the system itself and its external environment. For example... Figure 1 As shown, the internal nodes that make up the real-time control system are classified into computing nodes and sensing and actuation nodes according to their operation in the physical world.

[0058] Computing nodes allocate computing resources to the real-time control system, and the core computing tasks of the real-time control system are undertaken by computing nodes. A single computing node can be assigned one or more computing tasks, but the same computing task will not be split across multiple computing nodes for execution.

[0059] A sensor-actuator node is a node in a real-time control system that interacts with the external environment. The sensor node acquires the state of the external environment by sensing changes in mechanical energy, thermal energy, etc., and transmits this state to the computing node. The actuator node, based on the control output from the computing node, changes the mechanical energy, thermal energy, etc., exerted by the real-time control system on the external environment, thereby changing the relative state between the real-time control system and the external environment, ultimately realizing the function of the real-time control system. In physical implementation, the computing node and the sensor-actuator node may belong to the same subsystem (or component) of the real-time control system; however, depending on the specific task performed, this subsystem (or component) should be decomposed into two or more nodes for description.

[0060] The external environment of a real-time control system is the external physical environment in which the system operates. There is an interaction between the external environment of the real-time control system and the sensing and actuating nodes, including mechanical energy and thermal energy.

[0061] like Figure 2 As shown, the interfaces between internal nodes of the real-time control system and between the system and the external environment are classified into real-time task interfaces, task boundary interfaces, and physical environment interfaces. Real-time task interfaces refer to the interaction interfaces between computing nodes of the real-time control system, with internal data being digital signals. Task boundary interfaces refer to the interaction interfaces between computing nodes and sensing / actuating nodes of the real-time control system, with internal data streams consisting of sensor information after energy conversion and actuation control information before energy conversion. Physical environment interfaces refer to the interaction interfaces between the real-time control system and the external environment, with internal data streams consisting of energy interaction information between sensing / actuating nodes and the external environment. Based on the type of interaction information in these three types of interfaces, computing nodes can only interact with information through real-time task interfaces or task boundary interfaces; sensing / actuating nodes can only interact with information through task boundary interfaces or physical environment interfaces; and the external environment can only interact with information through physical environment interfaces.

[0062] The virtual integration device for real-time control systems provides three types of virtual communication buses for data interaction between the internal and external systems. These buses respectively realize data interaction between the real-time task interface, the task boundary interface, and the physical environment interface. The data interfaces between various nodes in these three types of interfaces are defined as pairwise connected virtual network links. These virtual network links communicate data messages through the virtual communication buses, and various nodes access the virtual communication buses through virtual gateways. During integration, the switching between system node simulation and the physical node can be achieved by changing the implementation method of the three types of interface virtual communication buses.

[0063] The real-time control system virtual integrated device adopts a specific scheduling mechanism for tasks running in different types of nodes. For time-triggered computing tasks, a separate simulation engine performs unified scheduling through a periodic time window (the start time of task execution in each cycle and the duration of execution). For non-time-triggered tasks, each node simulates the task execution periodically.

[0064] In a virtual integrated device, the simulation program for a node task can be developed by using embedded software code to implement the node's functional tasks. For nodes whose embedded software code development is incomplete or whose functional tasks are not implemented through embedded software (such as some sensing and actuation nodes and environmental nodes), the simulation program for that node can be developed by using code generated from the model or by model simulation. The node simulation program can schedule the virtual communication bus by calling the interface of the virtual gateway.

[0065] In a real-time control system, the simulation programs of each node are interconnected through a virtual communication bus, achieving a fully digital virtual integration of the system. After the real-time control system completes virtual integration, the test engine accesses the virtual communication bus gateway, injects test stimuli into the input ports of each node according to the real-time control system test cases, and monitors the status at the output interfaces of the node or other nodes, thereby testing the functionality of the real-time control system. This testing method allows for functional performance testing of the real-time control system, as well as testing of individual nodes, enabling testing and verification at different levels of the real-time control system.

[0066] By changing the implementation of the virtual communication bus at the task boundary interface, the computing nodes in the all-digital simulation of the real-time control system can be replaced with physical products, enabling the testing and verification of the physical computing nodes. Similarly, by changing the implementation of the virtual communication bus at the physical environment interface, the computing nodes and sensor / actuator nodes in the all-digital simulation of the real-time control system can be replaced with physical products, enabling the testing and verification of the physical computing nodes and sensor / actuator nodes.

[0067] Example 1: Implementation process of all-digital simulation of a typical real-time control system, as follows: Figure 3 As shown.

[0068] Typical real-time control system components include: Figure 4 As shown, it consists of a control input sensor, a control computer, an actuator, a controlled object, and a detection device. The control computer includes an AD converter, a control law calculation program, and a DA converter.

[0069] Step 1: Perform a structured classification of typical real-time control systems. The control input sensors, control computer, actuators, and detection devices constitute the system body simulation of the control system, while the control inputs and controlled objects constitute the external environment simulation.

[0070] Step 2: Classify the internal nodes that make up the real-time control system body into computing nodes and sensing and actuation nodes according to the task type of the system function implemented by the node.

[0071] The AD conversion completes the function of converting electrical signals into digital signals; the control law calculation program completes the function of calculating control laws; and the DA conversion completes the function of converting control quantities into electrical signals. These three nodes are classified as calculation nodes. The input sensor obtains changes in the control input state, converts the changes into electrical signals, and transmits them to the AD module. The actuator changes the mechanical energy, thermal energy, etc., acting on the controlled object according to the control quantity electrical signals, thereby changing the state of the controlled object. The detection device obtains changes in the state of the controlled object, converts the changes into electrical signals, and transmits them to the AD module. These three nodes are classified as sensing and actuation nodes.

[0072] Step 3: Classify the interfaces between internal nodes of the real-time control system and between the real-time control system and the external environment into real-time task interfaces, task boundary interfaces, and physical environment interfaces.

[0073] The interaction interfaces between AD conversion and control law calculation, and between control law calculation and DA conversion, belong to real-time task interfaces; the interaction interfaces between AD conversion and control input sensors, between AD conversion and detection devices, and between DA conversion and actuators are task boundary interfaces; the interaction interfaces between control inputs and control input sensors, between actuators and controlled objects, and between controlled objects and detection devices are physical environment interfaces.

[0074] Step 4: Define the data interfaces between various nodes in the real-time control system as virtual network links that are connected in pairs. The virtual network links are deployed in different interface types.

[0075] The data interface for transmitting AD conversion data to control law calculation data and the data interface for transmitting control law calculation data to DA conversion data are defined as virtual links deployed in the real-time task interface; the data interface for transmitting control input sensor data to AD conversion data, the data interface for transmitting detection device data to AD conversion data, and the data interface for transmitting DA conversion data to actuator data are defined as virtual links deployed in the task boundary interface; the data interface for transmitting control input to control input sensor data, the data interface for transmitting actuator data to controlled object data, and the data interface for transmitting controlled object data to detection device data are defined as virtual links deployed in the physical environment interface.

[0076] Step 5: Determine the internal task scheduling mechanism of each node, and determine the execution cycle and execution time window for time-triggered tasks and the execution cycle for non-time-triggered tasks.

[0077] To plan the execution time window within a running cycle for DA conversion, control law calculation, and AD conversion, the simulation running cycle of control input sensors, detection devices, actuators, controlled objects, and control inputs is determined.

[0078] Step 6: Develop the node simulation program based on the embedded software code that implements the node's functional tasks and the virtual gateway interface.

[0079] The development of a control law calculation simulation program was achieved using embedded software code for control law calculation and virtual link gateway interface code for control law calculation input and output.

[0080] Step 7: Develop the node simulation program by generating code and interface with the virtual gateway based on the node model.

[0081] The above node simulation program is developed using code generated from models of AD conversion, DA conversion, control input sensors, detection devices, actuators, and controlled objects, along with the interface code for the virtual link gateway of these node inputs and outputs.

[0082] Design an interface window to simulate control input, and use the related code of the interface and the virtual link gateway interface code of the control input node output to realize the development of the control input node simulation program.

[0083] Step 8: The simulation programs of each node are integrated through a virtual communication bus.

[0084] Create shared memory to provide communication support for virtual links in the three types of interfaces, realize interaction between all nodes in the system, and complete system integration.

[0085] Step 9: The real-time control system's all-digital simulation starts running through the simulation engine.

[0086] The simulation engine schedules DA conversion, control law calculation, and AD conversion to run simulation programs within the planned time window. Simulation programs for control input sensors, detection devices, actuators, controlled objects, and analog control input nodes execute simulation programs according to their respective running cycles.

[0087] Step 10: The test engine accesses the virtual communication bus gateway, injects test stimuli into the input ports of each node in the system according to the system test cases, and monitors the status at the output interface of the node or other nodes to test the system's functional implementation.

[0088] The test cases are designed as follows:

[0089] 1. Inject test stimuli into the simulation output link of the control input node;

[0090] 2. Delay for a period of time;

[0091] 3. Observe whether the changes in the state of the controlled object are consistent with the system function in the output link of the controlled object.

[0092] Write test scripts according to the test cases described above, and execute the test scripts through the test engine to verify the control functions of a typical control system.

[0093] Example 2:

[0094] In Example 1, the computing nodes of the real-time control system are implemented using physical products. That is, the DA conversion, control law calculation, and AD conversion are implemented by a control computer that performs the control functions.

[0095] In step 4: The gateway implementation of the input / output virtual link of the node to be replaced is changed to the driver simulation board implementation.

[0096] The virtual link from the control input sensor to the AD converter and the virtual link gateway from the detection device to the AD converter are changed to drive the DA simulation board to realize the signal injection of the control computer's AD conversion input link;

[0097] The virtual link gateway that transmits DA conversion data to the actuator is replaced with a driver AD acquisition board that acquires signals from the AD conversion output link of the control computer.

[0098] In step 8: the computing node and the sensing and actuation node are connected by a physical cable, and the sensing and actuation node and the external environment simulation program are integrated through a virtual communication bus.

[0099] The control computer is connected to the DA simulation board and AD acquisition board in the simulation computer via physical cables. The control input is transmitted to the virtual link of the control input sensor, the actuator is transmitted to the virtual link of the controlled object, and the controlled object is transmitted to the virtual link of the detection device, and the data interaction is achieved through shared memory.

[0100] Step 9: The real-time control system's all-digital simulation starts running through the simulation engine.

[0101] The simulation engine schedules and controls the input sensors, detection devices, actuators, controlled objects, and analog control input nodes to execute the simulation program according to their respective operating cycles, and controls the computer to power on and run.

[0102] Step 10: The test engine accesses the virtual communication bus gateway and injects test stimuli into the input ports of each node in the real-time control system according to the test cases of the real-time control system, thereby realizing the testing of the system's functional implementation in a semi-physical environment.

[0103] The test engine executes the test script in Example 1 to test and verify the control function of the real-time control system and to test and verify the function implementation of the computer controlling things.

[0104] The beneficial effects of this invention are:

[0105] By using a fully digital simulation environment for real-time control system functions, the testing and verification of real-time control system functions are moved forward to the design stage, enabling parallel testing and verification with product function and performance design. In the system design stage, the emphasis shifts to both virtual simulation verification and subsequent physical verification, allowing for early verification of the correctness of the real-time control system design.

[0106] In the all-digital simulation verification of real-time control systems, test cases can be executed automatically, improving the efficiency of real-time control system verification. It can also provide verification test case scripts for the verification of real-time control systems in physical environments, thereby improving the efficiency of real-time control system physical environment verification.

[0107] It can serve as a prototype runtime environment for components and configuration items of real-time control system functional software, providing support for the verification and testing of real-time control system software functional behavior, and solving the dependence of software testing and verification environments on physical hardware.

[0108] The all-digital simulation of real-time control systems can perform real-time, ultra-real-time, and even single-step level full-system operation simulation. Combined with real-time observation and analysis of virtual link data, it provides support for accurate debugging, integration, and fault location of real-time control systems, solving the problems of insufficient physical environment observation methods and difficulty in acquiring test data for real-time control systems.

Claims

1. A virtual integration device for a real-time control system, characterized in that, The device includes: a real-time control system body and a real-time control system external environment; The internal nodes that make up the real-time control system body are divided into computing nodes and sensing and actuation nodes, wherein the sensing and actuation nodes include sensing nodes and actuation nodes. The external environment of a real-time control system is the external physical environment in which the real-time control system operates. The external environment of a real-time control system interacts with the sensing and actuation nodes. Computing nodes allocate computing resources to the real-time control system. One or more computing tasks are allocated to the same computing node, but the same computing task will not be split across multiple computing nodes for execution. The sensor-actuator node is the node in the real-time control system that interacts with the external environment. The sensor node acquires the state of the external environment and transmits these states to the computing node. The actuator node, based on the control quantity output by the computing node, realizes the change of the relative state between the real-time control system and the external environment, thereby realizing the control function. The device also includes: a real-time task interface, a task boundary interface, and a physical environment interface; The real-time task interface refers to the interaction interface between computing nodes of a real-time control system, and the internal data flow is a digital signal; The task boundary interface refers to the interaction interface between the computing node and the sensing and actuation node of the real-time control system. The internal data flow consists of sensing information after energy conversion and actuation control information before energy conversion. The physical environment interface refers to the interaction interface between the real-time control system and the external environment, while the internal data flow is the energy interaction information between the sensing and actuation nodes and the external environment. Computing nodes can only interact with information through the real-time task interface or the task boundary interface; sensing and actuation nodes can only interact with information through the task boundary interface or the physical environment interface; and the external environment can only interact with information through the physical environment interface. The device also includes three types of virtual communication buses for internal and external data interaction; The three types of virtual communication buses respectively realize data interaction in the real-time task interface, task boundary interface and physical environment interface. The data interface between each node in the three types of virtual communication buses is defined as a virtual network link that is connected in pairs. Each node accesses the corresponding virtual communication bus through a virtual gateway. The device further includes: setting the scheduling mechanism used by the tasks running in the node; The scheduling mechanism is a time-triggered task scheduling mechanism, in which a separate simulation engine performs unified task scheduling, and task scheduling is achieved through a periodically triggered time window; The scheduling mechanism is a non-time-triggered task scheduling mechanism, in which each node performs task scheduling on a periodic basis.

2. A simulation verification method for a virtual integrated device of a real-time control system, characterized in that, The method for simulating and verifying the apparatus as described in claim 1 includes: Step 1: Classify the real-time control system into two categories: the real-time control system itself and the external environment. Step 2: Classify the internal nodes that make up the real-time control system body according to the task type of the real-time control system function implemented by the node, and classify them into computing nodes and sensing and actuation nodes. Step 3: Classify the interfaces between internal nodes of the real-time control system and between the real-time control system and the external environment into real-time task interfaces, task boundary interfaces, and physical environment interfaces. Step 4: Define the data interfaces between various nodes in the real-time control system as virtual network links that are connected in pairs, and deploy the virtual network links in different interface types; Step 5: Determine the task scheduling mechanism within each node. The task scheduling mechanism includes time-triggered task scheduling mechanism and non-time-triggered task scheduling mechanism. Step 6: Develop node simulation programs for various nodes in the real-time control system according to their functional tasks; Step 7: The simulation programs for each node are integrated via a virtual communication bus; Step 8: The real-time control system starts running through the simulation engine. Step 9: The test engine accesses the virtual communication bus gateway, injects test stimuli into the input ports of each node in the real-time control system according to the test cases of the real-time control system, and monitors the status at the output interface of the node or other nodes to realize the test and verification of the functions of the real-time control system.

3. The simulation verification method for a virtual integrated device of a real-time control system according to claim 2, characterized in that, Step 6 specifically includes: The node simulation program was developed based on the embedded software code that implements the node's functional tasks and the virtual communication gateway interface. Node simulation program development is achieved by generating code based on the node model and implementing the virtual communication gateway interface.

4. The simulation verification method for a virtual integrated device of a real-time control system according to claim 2, characterized in that, When the internal nodes of a real-time control system are implemented using physical products: In step 4: the gateway that implements the input and output virtual links of the nodes, which is a physical product, is replaced with a driver that drives real physical hardware; In step 7: the input and output virtual links of the physical product implementation node are changed to physical cables, and other nodes are integrated with the physical product implementation node through a virtual communication bus.

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