Simulation method, device and equipment and computer readable storage medium

Abstract

The invention discloses a simulation method, device and equipment and a computer readable storage medium, and relates to the technical field of simulation, and the simulation method comprises the steps that a function simulation unit file is processed based on a function simulation unit model analysis interface to obtain a function simulation unit model, and the function simulation unit model is analyzed to obtain a function simulation unit file; processing the multi-rigid-body physical model file based on the simulation file input interface to obtain a multi-rigid-body physical model; obtaining an output result of the function simulation unit model based on a multi-rigid-body physical model simulation interface, and adopting the output result to drive the multi-rigid-body physical model to perform simulation to obtain a simulation result; and outputting the simulation result based on a simulation result output interface, so that the combined simulation architecture of the multi-rigid physical model and the functional simulation unit model is light and easy to migrate.

Description

Technical Field

[0001] The present application relates to the field of simulation technology, and in particular to simulation methods, devices, equipment and computer-readable storage media. Background Art

[0002] The dynamics of multi-rigid body systems is a branch of physics that mainly studies the motion and interaction between multiple rigid bodies. In the multi-rigid body dynamics simulation process, external input needs to be considered, and the FMU (Functional Mockup Unit) model is the most widely used type of external input. In the related technology, the functional simulation unit model imports the calculated data into the multi-rigid body physical model for simulation, thereby realizing the joint simulation of the functional simulation unit model and the multi-rigid body physical model. However, when the FMU has algorithm models of different disciplines, it is necessary to rely on different simulation software environments, making the entire joint simulation architecture not lightweight enough. Summary of the invention

[0003] The main purpose of this application is to provide a simulation method, apparatus, device and computer-readable storage medium, aiming to construct a joint simulation architecture of a lightweight multi-rigid body physical model and a functional simulation unit model.

[0004] To achieve the above purpose, the present application proposes a simulation method, which includes:

[0005] Processing the functional simulation unit file based on the functional simulation unit model parsing interface to obtain the functional simulation unit model, and processing the multi-rigid body physical model file based on the simulation file input interface to obtain the multi-rigid body physical model;

[0006] Based on the multi-rigid body physical model simulation interface, the output result of the functional simulation unit model is obtained, and the output result is used to drive the multi-rigid body physical model to perform simulation to obtain a simulation result;

[0007] The simulation result is output based on a simulation result output interface.

[0008] In one embodiment, the step of processing the functional simulation unit file based on the functional simulation unit model parsing interface to obtain the functional simulation unit model includes:

[0009] Parsing the functional simulation unit file based on the functional simulation unit model parsing interface to construct an instantiation object of the functional simulation unit model;

[0010] Acquire configuration parameters of the instantiated object, wherein the configuration parameters are obtained by parsing the function simulation unit file and / or determined based on received configuration instructions;

[0011] The configuration parameters are used to configure the attribute parameters of the instantiated object to obtain the functional simulation unit model.

[0012] In one embodiment, after the step of using the output result to drive the multi-rigid body physical model to perform simulation and obtain the simulation result, the step further includes:

[0013] Feedback the simulation result of the current simulation step to the functional simulation unit model;

[0014] The functional simulation unit model is controlled to use the simulation result of the current simulation step as the input of the next simulation step to perform simulation, so as to obtain the output result of the next simulation step.

[0015] In one embodiment, when the functional simulation unit files include at least two, the step of obtaining the output result of the functional simulation unit model based on the multi-rigid body physical model simulation interface and using the output result to drive the multi-rigid body physical model to perform simulation, before obtaining the simulation result, further includes:

[0016] Parsing each of the functional simulation unit files based on the functional simulation unit model parsing interface to determine the logical connection relationship between each functional simulation unit model;

[0017] Based on the logical connection relationship, calling the corresponding functional simulation unit model to perform joint simulation, and obtaining the joint simulation results of each functional simulation unit model;

[0018] The output result is obtained according to the joint simulation result.

[0019] In one embodiment, the method further includes:

[0020] Obtain the file format and file path of the function simulation unit file;

[0021] Performing compliance testing on the function simulation unit file based on the file format and the file path to obtain a compliance testing result;

[0022] If the compliance detection result is compliance, executing the step of processing the functional simulation unit file based on the functional simulation unit model parsing interface to obtain the functional simulation unit model;

[0023] If the compliance detection result is non-compliant, return to the step of obtaining the file format and file path of the function simulation unit file.

[0024] In one embodiment, the step of performing compliance detection on the function simulation unit file based on the file format and the file path to obtain a compliance detection result includes:

[0025] If the file format is a preset file format and the file path is a preset file path, determining that the compliance detection result corresponding to the function simulation unit file is compliant;

[0026] If the file format is not the preset file format or the file path is not the preset file path, it is determined that the compliance detection result corresponding to the function simulation unit file is non-compliant.

[0027] In one embodiment, the step of using the output result to drive the multi-rigid body physical model to perform simulation to obtain the simulation result includes:

[0028] Determining motion parameters of the multi-rigid body physical model based on the multi-rigid body physical model simulation interface, wherein the motion parameters include at least one of a simulation step size, a solution algorithm, a simulation time, a simulation data type, and a simulation step interval;

[0029] The multi-rigid body physical model is simulated based on the motion parameters to obtain the simulation result.

[0030] In addition, to achieve the above purpose, the present application also proposes a simulation device, which includes:

[0031] A model building module is used to process the function simulation unit file based on the function simulation unit model parsing interface to obtain the function simulation unit model, and to process the multi-rigid body physical model file based on the simulation file input interface to obtain the multi-rigid body physical model;

[0032] A simulation module, used for obtaining the output result of the functional simulation unit model based on the multi-rigid body physical model simulation interface, and using the output result to drive the multi-rigid body physical model to perform simulation to obtain a simulation result;

[0033] The output module is used to output the simulation result based on the simulation result output interface.

[0034] In addition, to achieve the above objectives, the present application also proposes a simulation device, which includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program is configured to implement the steps of the simulation method described above.

[0035] In addition, to achieve the above-mentioned purpose, the present application also proposes a storage medium, which is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, the steps of the simulation method described above are implemented.

[0036] This application proposes a simulation method. Compared with the related technology, the functional simulation unit model needs to rely on the simulation software environment for simulation, which leads to the problem that the entire joint simulation architecture is not lightweight enough. This application provides a lightweight joint simulation framework and simulation toolkit, which includes a functional simulation unit model parsing interface, a simulation file input interface, a multi-rigid body physical model simulation interface, and a simulation result output interface, so that the joint simulation architecture of the multi-rigid body physical model and the functional simulation unit model can be lightweight. At the same time, the functional simulation unit file is extended as a driving input of the multi-rigid body physical model to meet the simulation requirements of electromechanical joint simulation in different scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0038] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0039] Figure 1 A schematic diagram of a flow chart provided for the first embodiment of the simulation method of the present application;

[0040] Figure 2 A brief flowchart of the simulation method provided in Embodiment 2 of the simulation method of the present application;

[0041] Figure 3 This is a schematic diagram of the module structure of the simulation device according to the embodiment of the present application;

[0042] Figure 4 Schematic diagram of the device structure of the hardware operating environment involved in the simulation method in the embodiment of the present application.

[0043] The purpose, features and advantages of this application will be further described in conjunction with the embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0044] It should be understood that the specific embodiments described herein are only used to explain the technical solutions of the present application and are not used to limit the present application.

[0045] In order to better understand the technical solution of the present application, a detailed description will be given below in conjunction with the accompanying drawings and specific implementation methods.

[0046] The main solution of the embodiment of the present application is: based on the functional simulation unit model parsing interface, the functional simulation unit file is processed to obtain the functional simulation unit model, and based on the simulation file input interface, the multi-rigid body physical model file is processed to obtain the multi-rigid body physical model; based on the multi-rigid body physical model simulation interface, the output result of the functional simulation unit model is obtained, and the output result is used to drive the multi-rigid body physical model to simulate to obtain the simulation result; the simulation result is output based on the simulation result output interface.

[0047] In this embodiment, for the convenience of description, the following description is made with the simulation device as the execution subject.

[0048] The dynamics of multi-rigid body systems is a branch of physics that mainly studies the motion and interaction between multiple rigid bodies. In the multi-rigid body dynamics simulation process, in addition to considering the internal properties and connection relationships of the physical system, the external input of the system is also crucial. The external input types are generally divided into functions, data tables, FMUs, etc., among which FMU is the most widely used type. The functional simulation unit model is a file format encapsulated based on the functional prototype interface specification, with specific input and output interfaces, most of which are algorithm models of different disciplines, such as controllers, drives, motors, etc. It is connected and run according to a certain operating logic to generate calculation data, and the calculation data is input into the multi-rigid body physical model for simulation.

[0049] In related technologies, multi-rigid body physical model simulation and functional simulation unit model rely on different simulation software environments, and functional simulation unit models of different disciplines also rely on different simulation software environments, which increases the cost of joint simulation of functional simulation unit model and multi-rigid body physical model.

[0050] The present application provides a solution, which integrates the multi-rigid body dynamics solver and the functional simulation unit model parsing library, and expands the input and output modules, and provides a lightweight joint simulation framework and simulation toolkit, which includes a functional simulation unit model parsing interface, a simulation file input interface, a multi-rigid body physical model simulation interface, and a simulation result output interface, so that the joint simulation architecture of the multi-rigid body physical model and the functional simulation unit model is lightweight. At the same time, the extended functional simulation unit file is used as a driving input of the multi-rigid body physical model to meet the simulation requirements of electromechanical joint simulation in different scenarios.

[0051] In addition, in the related art, the simulation of the functional simulation unit model and the multi-rigid body physical model mainly includes the following two methods: establishing a connection through communication in different software for simulation, or performing it in multidisciplinary joint simulation software. The former has a large data transmission overhead between different software, which leads to a decrease in the efficiency of joint simulation. The latter multidisciplinary joint simulation software requires higher equipment performance and is difficult to migrate to other software for integration.

[0052] The present application realizes the calculation of the functional simulation unit model, the simulation of the multi-rigid body physical model and the data transmission between the two models in the same simulation software environment through the above-mentioned integrated lightweight simulation toolkit, thereby eliminating the need for data transmission in different simulation software environments, improving the joint simulation efficiency of the functional simulation unit model and the multi-rigid body physical model, and supporting lightweight integration of other software and platforms.

[0053] It should be noted that the execution subject of this embodiment can be a computing service device with data processing, network communication and program running functions, such as a tablet computer, a personal computer, a mobile phone, etc., or an electronic device, a simulation device, etc. that can realize the above functions. The following takes the simulation device as an example to illustrate this embodiment and the following embodiments.

[0054] Based on this, the present application embodiment provides a simulation method, referring to Figure 1 , Figure 1 This is a flowchart of the first embodiment of the simulation method of the present application.

[0055] In this embodiment, the simulation method includes steps S10 to S30:

[0056] Step S10, processing the functional simulation unit file based on the functional simulation unit model parsing interface to obtain the functional simulation unit model, and processing the multi-rigid body physical model file based on the simulation file input interface to obtain the multi-rigid body physical model;

[0057] It should be noted that the functional simulation unit model parsing interface is used to implement parsing of functional simulation unit files, instantiation of FMU objects in functional simulation unit files, determination of logical connection relationships between various FMU objects, and functional simulation unit model simulation.

[0058] It should be noted that the functional simulation unit file is the FMU file, and its corresponding file format is .fmu. FMU is a universal model exchange and integration format used to share and reuse models in different simulation environments. FMU files are usually compressed files that contain description files of the functional simulation unit model (such as model structure, parameters, variables, connection relationships) and simulation algorithms. FMU files can be based on the FMI (Functional Mock-up Interface) standard, which is an international standard for defining the interaction and simulation behavior of models. The main advantages of FMU files include: they can be used in different simulation tools without rewriting or rebuilding the model, functional simulation unit models can be reused in different projects and applications, thereby improving development efficiency and reducing duplication of work, FMU files can be simulated and executed in any simulation tool that supports the FMI standard, without relying on a specific simulation platform, and can integrate different types of functional simulation unit models, such as mechanical, electrical, control systems, etc., for multi-domain joint simulation.

[0059] It should be noted that the function simulation unit file can be exported from other simulation software in advance and stored locally, and when used later, it can be searched locally based on the storage path of the function simulation unit file.

[0060] It should be noted that different functional simulation unit files correspond to different functional simulation unit models. When the required functional simulation unit model changes, the corresponding functional simulation unit file can be obtained to obtain the corresponding functional simulation unit model. Therefore, the correspondence between the functional simulation unit model name and the functional simulation unit file can be obtained, or the correspondence between the functional simulation unit model name and the file path of the functional simulation unit file can be established. Based on the correspondence, the corresponding functional simulation unit file can be quickly obtained during the simulation process of the functional simulation unit model, and the functional simulation unit file can be processed based on the functional simulation unit model parsing interface to obtain the functional simulation unit model.

[0061] Exemplarily, when the functional simulation unit model is a motor model, the functional simulation unit file generally includes the following contents:

[0062] Motor model description file: This is the main description file of the motor model, which contains various information of the model, such as model variables, parameters, initial value settings, input and output interfaces, etc. It describes the structure, behavior and interaction of the motor model with the external environment.

[0063] Motor model implementation files: These are binary files of the motor model, which contain the actual model implementation and algorithms. For motor models, these files may contain the mathematical model of the motor, control algorithms, simulators, etc.

[0064] These files together constitute a complete functional simulation unit file of the motor model, so that the motor model can be used as an independent functional unit and can be easily used and integrated in various simulation environments.

[0065] Further motor model documentation or user manuals can be provided: providing detailed descriptions and usage guidelines for the motor model, including the theoretical background of the motor model, the physical units of input and output, the explanation of model parameters, and how to integrate with other systems.

[0066] In this embodiment, after obtaining the functional simulation unit file, processing the functional simulation unit file based on the functional simulation unit model parsing interface includes: parsing the functional simulation unit file based on the functional simulation unit model parsing interface, instantiating the FMU object, establishing the logical relationship between each FMU object, and simulating the functional simulation unit model. Among them, by parsing the functional simulation unit file based on the functional simulation unit model parsing interface and instantiating the FMU object, the functional simulation unit model can be obtained, and by simulating the functional simulation unit model, the output result of the functional simulation unit model can be obtained.

[0067] It should be noted that the simulation file input interface is used to realize the establishment of a multi-rigid body physical model file to a multi-rigid body physical model.

[0068] It should be noted that the file format of the multi-rigid body physics model file can be .xml format. XML (Extensible Markup Language) is a commonly used text format. The multi-rigid body physics model file in XML format of the present application uses tags and attributes to describe the simulation data of each multi-rigid body simulation object, which has good readability. And in the multi-rigid body physics model file in XML format, a hierarchical structure is supported, and the simulation data can be organized in a tree form, and a parent-child relationship is established. This structured data storage method facilitates the management, query and processing of data. It has good readability, scalability and cross-platform characteristics, so that it is widely used in data exchange, configuration files, data storage, etc.

[0069] Optionally, the multi-rigid body physical model file can be configured according to actual conditions, and the generation process of the multi-rigid body physical model file can be: determining all simulation objects required for the simulation of the multi-rigid body dynamics system; defining the simulation data corresponding to each attribute of each simulation object; and generating a multi-rigid body physical model file in XML format according to the simulation data corresponding to each attribute of each simulation object.

[0070] Exemplarily, the multi-rigid body physical model file may specifically include the following contents:

[0071] The multi-rigid body physics model file contains physical unit declarations, including inertia unit definition, mass unit definition, length unit definition, force unit definition, and torque unit definition;

[0072] The multi-rigid body physics model file contains the rigid body declaration. The rigid body definition must have position coordinates and transformation matrix, which are used to determine the posture of the rigid body in the world coordinate system.

[0073] The multi-rigid body physics model file contains physical properties. Each rigid body has properties, including mass, inertia matrix, and the position of the center of mass in its local system.

[0074] The multi-rigid body physical model file contains kinematic pair declarations. After the positions of the above rigid bodies are determined, the role of the kinematic pair is to confirm the motion relationship between the rigid bodies, which specifically includes fixed pairs, sliding pairs, hinge pairs, screw pairs, coupling pairs (gear pairs, gear rack pairs), etc.

[0075] The multi-rigid body physics model file contains driver declarations. Drivers are used to drive joint motions. They are mainly divided into two types: linear and angular, including force / torque, displacement / angle, and velocity / angular velocity. These data come from different sources. The multi-rigid body physics model file provides four sources: external software variables, functional simulation unit model (driver + motor), data table, and function type.

[0076] The multi-rigid body physics model file contains simulation setting statements, which can set the step size, algorithm, number of iterations, and solution accuracy;

[0077] It should be noted that a multi-rigid body physics model refers to a system composed of multiple rigid bodies. In physics, a rigid body refers to an object that does not deform due to external forces, and the relative positions and angles between its parts remain unchanged. A multi-rigid body physics model can be composed of multiple rigid bodies connected by connectors (such as rods, shafts, etc.), or it can be composed of multiple independent rigid bodies subjected to the same external forces at the same time. The multi-rigid body physics model has rich dynamic properties. By applying Newtonian mechanics or rigid body dynamics principles, the laws of change of physical quantities such as the motion state, angular momentum, and kinetic energy of the multi-rigid body physics model can be studied. It should be noted that when dealing with multi-rigid body physics models, complex motion equations and mechanical models are often involved, which require the use of numerical calculations and mathematical methods for analysis and solution.

[0078] In this embodiment, a multi-rigid body physical model file is processed based on a simulation file input interface to obtain a multi-rigid body physical model, including: constructing a class to be simulated of a multi-rigid body dynamics system based on the simulation file input interface, and instantiating the class to be simulated as a simulation object; traversing the multi-rigid body physical model file in XML format to obtain simulation data corresponding to the simulation object, and storing the simulation data in a container corresponding to the class to be simulated; and creating a multi-rigid body physical model based on the simulation data in the container.

[0079] Optionally, the class to be simulated includes at least a rigid body class, a kinematic pair class, a drive class, a sensor class, and a structure class; the attributes corresponding to the rigid body class include the posture change matrix and basic physical properties of the rigid body; the attributes corresponding to the kinematic pair class include the numbers of the two mutually related rigid bodies and the kinematic pair type; the attributes corresponding to the drive class include the drive type and the drive source; the attributes corresponding to the structure class include simulation setting parameters. Among them, the drive type includes at least: force drive, torque drive, speed drive, angular velocity drive, displacement drive, and angle drive; the drive source includes at least: external software variables, a functional simulation unit model combining a drive and a motor, a data table, and a function about time, etc.

[0080] Exemplarily, the basic physical properties include mass, center of mass, and moment of inertia, so the specific values ​​of mass, center of mass, and moment of inertia can be defined in the multi-rigid body physical model file. The types of kinematic pairs include fixed pairs, sliding pairs, hinge pairs, spiral pairs, and coupled pairs (gear pairs, gear rack pairs), so the numbers of fixed pairs, sliding pairs, hinge pairs, spiral pairs, and coupled pairs can be defined in the multi-rigid body physical model file. There are various types of drives, which can be specifically divided into: force drive, torque drive, speed drive, angular velocity drive, displacement drive, and angle drive. From the source of the drive, it can be divided into external software variables, functional simulation unit models, data tables, and functions of time t. Sensor types include but are not limited to position sensors, distance sensors, and collision sensors. Sensor custom configuration parameters include base point position, direction, range, sampling frequency, etc. The structure object is used to store the simulation parameter information read from XML and update it before the simulation is executed. The simulation setting parameters include but are not limited to step size, algorithm, number of iterations, and solution accuracy.

[0081] Step S20, obtaining the output result of the functional simulation unit model based on the multi-rigid body physical model simulation interface, and using the output result to drive the multi-rigid body physical model to perform simulation, to obtain a simulation result;

[0082] It should be noted that the multi-rigid body physical model simulation interface is used to support the establishment of the mapping process from the multi-rigid body dynamics system to the mathematical equation and the simulation setting of the simulation system.

[0083] It should be noted that different functional simulation unit models control different objects in the multi-rigid body physical model, which leads to different corresponding simulation results. In addition, different objects have corresponding mathematical solution equations, and the mathematical solution equation of the object corresponding to the output result of the functional simulation unit model can be determined, and then the mathematical equation and the output result of the functional simulation unit model are used for simulation to obtain the simulation result corresponding to the object.

[0084] It should be noted that the output results of the functional simulation unit model can be parameters of the motor, including torque, angle, speed, etc. It can also be current, voltage and power of the driver, etc.

[0085] In a feasible implementation, when the functional simulation unit model is different, the corresponding output result is also different. The corresponding control object in the multi-rigid body physical model is controlled by the output result. The control object can obtain the corresponding calculation model, and use the calculation model to calculate the simulation result corresponding to the control object under this output result. Among them, the simulation results corresponding to different control objects are different, and the corresponding simulation results under different output results are also different. The simulation results here can be the position of the connecting rod, the movement speed, the running acceleration, etc.

[0086] For example, when the control object is a connecting rod in a multi-rigid body physical model and the functional simulation unit model is a motor, when the output result of the motor is the rotational speed, the rotational speed is input into the multi-rigid body physical model, and the simulation results such as the position, movement speed, and running acceleration of the connecting rod at the motor speed are calculated.

[0087] In another feasible implementation, based on the multi-rigid body physical model simulation interface, the motion parameters corresponding to the multi-rigid body physical model are determined, and the multi-rigid body physical model is simulated based on the motion parameters to obtain simulation results. The motion parameters include at least one of a simulation step size, a solution algorithm, a simulation time, a simulation data type, and a simulation step interval.

[0088] It should be noted that the simulation data type to be obtained can be pre-configured, and different simulation data types correspond to different output results. The output results corresponding to the simulation data types can be obtained through the multi-rigid body physical model simulation interface. The output results are used, and combined with the simulation step interval, simulation step size, solution algorithm, simulation time, etc. to control the multi-rigid body physical model to obtain the simulation results.

[0089] In another feasible implementation, before obtaining the output result of the functional simulation unit model based on the multi-rigid body physical model simulation interface and using the output result to drive the multi-rigid body physical model for simulation and obtaining the simulation result, it also includes: binding the output interface of the functional simulation unit model with the driving input interface of the multi-rigid body physical model, thereby establishing a data connection between the functional simulation unit model and the corresponding multi-rigid body physical model, so that the output result of the functional simulation unit model can be smoothly sent to the multi-rigid body physical model. Among them, the process of establishing a data connection between the functional simulation unit model and the corresponding multi-rigid body physical model is to determine the interface between the functional simulation unit model and the multi-rigid body physical model, which includes data definition and data structure.

[0090] Step S30: outputting the simulation result based on the simulation result output interface.

[0091] It should be noted that the simulation result output interface can realize customized simulation result output, such as position, velocity, acceleration and other information.

[0092] This embodiment provides a simulation method, a lightweight joint simulation framework and a simulation toolkit, which includes a functional simulation unit model parsing interface, a simulation file input interface, a multi-rigid body physical model simulation interface, and a simulation result output interface, so that the joint simulation architecture of the multi-rigid body physical model and the functional simulation unit model is lightweight. At the same time, the functional simulation unit file is extended as a driving input of the multi-rigid body physical model to meet the simulation requirements of electromechanical joint simulation in different scenarios.

[0093] Based on the first embodiment of the present application, in the second embodiment of the present application, the same or similar contents as those in the above-mentioned embodiment 1 can be referred to the above introduction, and no further description will be given later. On this basis, in step S10, the functional simulation unit file is processed based on the functional simulation unit model parsing interface to obtain the functional simulation unit model, including steps S11 to S13:

[0094] Step S11, parsing the functional simulation unit file based on the functional simulation unit model parsing interface, and constructing an instantiation object of the functional simulation unit model;

[0095] Step S12, obtaining configuration parameters of the instantiated object, wherein the configuration parameters are obtained by parsing the function simulation unit file and / or determined based on the received configuration instructions;

[0096] Step S13: using the configuration parameters to configure the attribute parameters of the instantiated object to obtain the functional simulation unit model.

[0097] In this embodiment, the instantiation object of the constructed functional simulation unit model is called an FMU object. There may be multiple FMU objects, each FMU object may have multiple attributes, and each attribute parameter of each FMU object may be defined in the functional simulation unit file.

[0098] In this embodiment, the present application can determine the functional simulation unit model according to the actual situation or the simulation requirements of the functional simulation unit model. There are one or more determined functional simulation unit models. After determining the functional simulation unit model, the functional simulation unit file is parsed based on the functional simulation unit model parsing interface to construct the FMU object of the functional simulation unit model. After constructing the FMU object of the functional simulation unit model, the FMU object is instantiated. After the FMU object is instantiated, the configuration parameters of the instantiated object are obtained, and the attribute parameters of the FMU object are configured using the obtained configuration parameters, thereby obtaining the functional simulation unit model.

[0099] Instantiating an FMU object is the process of creating an instance (object) of a class. You can instantiate an object by using the class constructor. The specific instantiation steps are as follows:

[0100] 1) Define an FMU class, which describes the properties and behaviors of the FMU object.

[0101] 2) Instantiate the object. Specifically, parse the FMU file to create an instance of the FMU object, and call the initialization function to perform the initialization operation.

[0102] 3) Access the properties and methods of the FMU object. Specifically, the properties and methods of the FMU object can be accessed through the FMU object name and the dot operator.

[0103] It should be noted that each class can have multiple instances, each with its own attribute values, but the class methods are shared, that is, multiple instances can share the same method code. Through object instantiation, multiple objects with the same attributes and behaviors can be created, and each object can process data and perform operations independently.

[0104] It should be noted that the functional simulation unit file stores the default configuration parameters corresponding to the FMU object. The default configuration parameters in the functional simulation unit file can be used to configure the attribute parameters of the instantiated object to obtain a functional simulation unit model. Configuration instructions can also be generated according to actual control requirements and feedback results of the multi-rigid body physical model. Configuration parameters are determined based on the received configuration instructions and parsed. The configuration parameters are used to configure and adjust the attribute parameters of the instantiated object to obtain a functional simulation unit model.

[0105] According to the above technical solution, this embodiment constructs an instantiation object of the functional simulation unit model by parsing the functional simulation unit file based on the functional simulation unit model parsing interface; obtains configuration parameters of the instantiation object, wherein the configuration parameters are obtained by parsing the functional simulation unit file and / or determined based on the received configuration instructions; and configures the attribute parameters of the instantiation object using the configuration parameters to obtain the functional simulation unit model. Since the parsing and instantiation of the functional simulation unit file are realized through the functional simulation unit model parsing interface, thereby generating the functional simulation unit model, there is no need to rely on an external simulation software environment, thereby reducing the generation cost and efficiency of the functional simulation unit model.

[0106] Further, after obtaining the output result of the functional simulation unit model based on the multi-rigid body physical model simulation interface, and using the output result to drive the multi-rigid body physical model to perform simulation, in addition to executing step S30, it is also possible to determine whether to execute steps S40-S50 based on whether feedback results need to be received. For example, when the functional simulation unit model is set to need to obtain feedback results of the multi-rigid body physical model, steps S40-S50 are executed. Specifically, refer to Figure 2 :

[0107] Step S40, feeding back the simulation result of the current simulation step to the functional simulation unit model;

[0108] Step S50, controlling the functional simulation unit model to perform simulation using the simulation result of the current simulation step as input of the next simulation step to obtain the output result of the next simulation step.

[0109] In a feasible implementation, the simulation results corresponding to the output results of the functional simulation unit model are determined based on the multi-rigid body physical model simulation interface, the data output interface corresponding to the multi-rigid body dynamics is bound to the FMU feedback interface, and the simulation results obtained by the multi-rigid body physical model simulation are input into the functional simulation unit model. The functional simulation unit model uses the obtained simulation results as the input of the next simulation step, performs simulation to obtain the output results of the next simulation step, and repeats this cycle.

[0110] It should be noted that the output result of the functional simulation unit model can be obtained according to the requirements of the functional simulation unit model settings.

[0111] When there are multiple functional simulation unit models, each functional simulation unit model can be combined to control a certain control object in the same multi-rigid body physical model, and each functional simulation unit model can also control different control objects in the same multi-rigid body physical model. The latter requires the establishment of corresponding mathematical equations for each control object for calculation, and each control object has a corresponding simulation result. This simulation result corresponds to the output result corresponding to the functional simulation unit model. This simulation result can be used as the feedback result of the output result corresponding to the functional simulation unit model and fed back to the corresponding functional simulation unit model, so that the functional simulation unit model can perform closed-loop adjustment based on the feedback result of the control object corresponding to the multi-rigid body physical model, thereby improving the simulation accuracy of the multi-rigid body control. In this process, the role of the multi-rigid body physical model simulation interface here is to determine which functional simulation unit model's output result the simulation result corresponds to, and send the simulation result as the feedback result to the corresponding functional simulation unit model by calling the multi-rigid body physical model simulation interface, thereby improving the accurate feedback of the data.

[0112] According to the above technical solution, this embodiment adjusts the next simulation step of the multi-rigid body physical model by setting a feedback adjustment mechanism, thereby improving the control accuracy of the multi-rigid body dynamics system, and further improving the next simulation step of the multi-rigid body physical model and the simulation accuracy of the multi-rigid body physical model.

[0113] Based on the first embodiment of the present application, in the third embodiment of the present application, the same or similar contents as those in the above embodiments can be referred to the above introduction, and will not be repeated later. On this basis, in some application scenarios, the functional simulation unit model can be one or multiple. When there are multiple functional simulation unit models, each functional simulation unit model needs to be jointly simulated with the multi-rigid body dynamics system, and each functional simulation unit model also needs to satisfy a certain logical connection relationship. When the functional simulation unit file includes at least two, the functional simulation unit model corresponding to each functional simulation unit file can be established respectively, wherein the establishment process of each functional simulation unit model can be: constructing the FMU object corresponding to each functional simulation unit model; parsing each functional simulation unit file based on the functional simulation unit model parsing interface, and obtaining the attribute data corresponding to each FMU object; instantiating each FMU object based on the attribute data to obtain each functional simulation unit model.

[0114] Before step S20, steps S60 to S80 are also included:

[0115] Step S60, parsing each of the functional simulation unit files based on the functional simulation unit model parsing interface to determine the logical connection relationship between each functional simulation unit model;

[0116] Step S70, based on the logical connection relationship, calling the corresponding functional simulation unit models at the same time to perform joint simulation, and obtaining joint simulation results of each of the functional simulation unit models;

[0117] Step S80, obtaining the output result according to the joint simulation result.

[0118] Exemplarily, the functional simulation unit model that establishes a logical connection relationship can be a driver and a motor. The driver can output corresponding control parameters to drive the motor to work, so that the motor generates corresponding output results, including torque, angle, speed, etc.

[0119] In a feasible implementation, the output result of the functional simulation unit model is obtained based on the multi-rigid body physical model simulation interface, and the output result is used to drive the multi-rigid body physical model to perform simulation to obtain the simulation result, and the simulation result is fed back to the functional simulation unit model; the FMU object to be adjusted in each functional simulation unit model is determined according to the simulation result; the attribute parameters corresponding to the FMU object to be adjusted in each functional simulation unit model are adjusted to obtain a new functional simulation unit model corresponding to each functional simulation unit model, and the new functional simulation unit model corresponding to each functional simulation unit model is used to update the corresponding functional simulation unit model, so as to realize feedback adjustment of the functional simulation unit model.

[0120] According to the above technical solution, this embodiment builds logical connections between different functional simulation unit models to meet the scenario requirements of joint simulation of multifunctional simulation unit models.

[0121] Based on the first embodiment of the present application, in the fourth embodiment of the present application, the same or similar contents as those in the above embodiments can be referred to the above description, and will not be described in detail later. On this basis, the functional simulation unit file is processed based on the functional simulation unit model parsing interface, and before the functional simulation unit model is obtained, compliance detection of the functional simulation unit file is also included to verify whether the functional simulation unit file is compliant, specifically, including steps S110 to S140:

[0122] Step S110, obtaining the file format and file path of the function simulation unit file;

[0123] It should be noted that the compliance test results include compliance and non-compliance.

[0124] In a feasible implementation manner, whether the function simulation unit file is compliant may be detected based on whether the file format of the function simulation unit file is compliant, or based on the file name, file content, etc. of the function simulation unit file.

[0125] Step S120: performing compliance check on the function simulation unit file based on the file format and the file path to obtain a compliance check result.

[0126] Step S130, if the compliance detection result is compliance, executing the step of processing the functional simulation unit file based on the functional simulation unit model parsing interface to obtain the functional simulation unit model;

[0127] Step S140, if the compliance detection result is non-compliant, return to execute the step of obtaining the file format and file path of the function simulation unit file.

[0128] It should be noted that each functional simulation unit file has a corresponding file path, and the functional simulation unit file can be exported and stored in advance from the corresponding simulation software, and the file path corresponding to the functional simulation unit file is recorded. When a functional simulation unit file is needed, the corresponding functional simulation unit file can be read from the file path corresponding to the functional simulation unit file to obtain the corresponding functional simulation unit file. When it is detected that the functional simulation unit file is not compliant, the functional simulation unit file can be read again from the file path of the functional simulation unit file.

[0129] In a feasible implementation, when the functional simulation unit file is read multiple times from the file path of the functional simulation unit file but the read functional simulation unit file is still not compliant, it is necessary to re-export the functional simulation unit file from the corresponding simulation software and update the functional simulation unit file under the original file path to improve the accuracy of the functional simulation unit file.

[0130] According to the above technical solution, this embodiment detects whether the functional simulation unit file is compliant. If it is compliant, the functional simulation unit file is processed based on the functional simulation unit model parsing interface to obtain the functional simulation unit model. If it is not compliant, the functional simulation unit file is read from the file path of the functional simulation unit file, thereby improving the accuracy of the functional simulation unit file, and further improving the accuracy of the constructed functional simulation unit model.

[0131] Furthermore, the step of obtaining the compliance test result corresponding to the function simulation unit file includes: obtaining the file format and file path of the function simulation unit file; if the file format is a preset file format and the file path is a preset file path, determining that the compliance test result corresponding to the function simulation unit file is compliant; if the file format is not a preset file format or the file path is not a preset file path, determining that the compliance test result corresponding to the function simulation unit file is non-compliant. Among them, the preset file format is the .fmu file format, the preset file path is the storage path corresponding to the external driver file, which can be a local storage path, and the file paths corresponding to different external driver files can be the same or different, and can be set according to actual usage.

[0132] According to the above technical solution, this embodiment detects whether the function simulation unit file is compliant through the file format and file path, thereby improving the accuracy of the function simulation unit file.

[0133] This application also provides a simulation device, please refer to Figure 3 , the simulation device includes:

[0134] The model building module 10 is used to process the function simulation unit file based on the function simulation unit model parsing interface to obtain the function simulation unit model, and to process the multi-rigid body physical model file based on the simulation file input interface to obtain the multi-rigid body physical model;

[0135] A simulation module 20, for obtaining an output result of the functional simulation unit model based on a multi-rigid body physical model simulation interface, and using the output result to drive the multi-rigid body physical model to perform simulation to obtain a simulation result;

[0136] The output module 30 is used to output the simulation result based on the simulation result output interface.

[0137] Optionally, the model building module 10 is further used for:

[0138] Parsing the functional simulation unit file based on the functional simulation unit model parsing interface to construct an instantiation object of the functional simulation unit model;

[0139] Acquire configuration parameters of the instantiated object, wherein the configuration parameters are obtained by parsing the function simulation unit file and / or determined based on received configuration instructions;

[0140] The configuration parameters are used to configure the attribute parameters of the instantiated object to obtain the functional simulation unit model.

[0141] Optionally, the simulation device further includes:

[0142] Feedback the simulation result of the current simulation step to the functional simulation unit model;

[0143] The functional simulation unit model is controlled to use the simulation result of the current simulation step as the input of the next simulation step to perform simulation, so as to obtain the output result of the next simulation step.

[0144] Optionally, when the function simulation unit files include at least two, the simulation device further includes:

[0145] Parsing each of the functional simulation unit files based on the functional simulation unit model parsing interface to determine the logical connection relationship between each functional simulation unit model;

[0146] Based on the logical connection relationship, calling the corresponding functional simulation unit model to perform joint simulation, and obtaining the joint simulation results of each functional simulation unit model;

[0147] The output result is obtained according to the joint simulation result.

[0148] Optionally, the simulation device further includes:

[0149] Obtain the file format and file path of the function simulation unit file;

[0150] Performing compliance testing on the function simulation unit file based on the file format and the file path to obtain a compliance testing result;

[0151] If the compliance detection result is compliance, executing the step of processing the functional simulation unit file based on the functional simulation unit model parsing interface to obtain the functional simulation unit model;

[0152] If the compliance detection result is non-compliant, return to the step of obtaining the file format and file path of the function simulation unit file.

[0153] Optionally, the simulation device further includes:

[0154] If the file format is a preset file format and the file path is a preset file path, determining that the compliance detection result corresponding to the function simulation unit file is compliant;

[0155] If the file format is not the preset file format or the file path is not the preset file path, it is determined that the compliance detection result corresponding to the function simulation unit file is non-compliant.

[0156] Optionally, the simulation module 20 further includes:

[0157] Determining motion parameters of the multi-rigid body physical model based on the multi-rigid body physical model simulation interface, wherein the motion parameters include at least one of a simulation step size, a solution algorithm, a simulation time, a simulation data type, and a simulation step interval;

[0158] The multi-rigid body physical model is simulated based on the motion parameters to obtain the simulation result.

[0159] The simulation device provided by the present application adopts the simulation method in the above embodiment, which can make the joint simulation architecture of the multi-rigid body physical model and the functional simulation unit model lightweight and easy to migrate. Compared with the prior art, the beneficial effects of the simulation device provided by the present application are the same as the beneficial effects of the simulation method provided by the above embodiment, and other technical features in the simulation device are the same as the features disclosed in the above embodiment method, which will not be repeated here.

[0160] The present application provides a simulation device, which includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the simulation method in the above-mentioned embodiment one.

[0161] Reference below Figure 4 , which shows a schematic diagram of the structure of a simulation device suitable for implementing the embodiments of the present application. The simulation device in the embodiments of the present application may include but is not limited to mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Descriptions), PMPs (Portable Media Players), vehicle-mounted terminals (such as vehicle-mounted navigation terminals), etc., and fixed terminals such as digital TVs, desktop computers, etc. Figure 4 The simulation device shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0162] like Figure 4As shown, the simulation device may include a processing device 1001 (e.g., a central processing unit, a graphics processor, etc.), which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM: Read Only Memory) 1002 or a program loaded from a storage device 1003 to a random access memory (RAM: Random Access Memory) 1004. In RAM1004, various programs and data required for the operation of the simulation device are also stored. The processing device 1001, ROM1002, and RAM1004 are connected to each other through a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Generally, the following systems can be connected to the I / O interface 1006: an input device 1007 including, for example, a touch screen, a touch pad, a keyboard, a mouse, an image sensor, a microphone, an accelerometer, a gyroscope, etc.; an output device 1008 including, for example, a liquid crystal display (LCD: Liquid Crystal Display), a speaker, a vibrator, etc.; a storage device 1003 including, for example, a magnetic tape, a hard disk, etc.; and a communication device 1009. The communication device 1009 can allow the simulation device to communicate with other devices wirelessly or by wire to exchange data. Although the simulation device with various systems is shown in the figure, it should be understood that it is not required to implement or have all the systems shown. More or fewer systems can be implemented or have alternatively.

[0163] In particular, according to the embodiments disclosed in the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, the embodiments disclosed in the present application include a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication device, or installed from a storage device 1003, or installed from a ROM 1002. When the computer program is executed by the processing device 1001, the above-mentioned functions defined in the method of the embodiment disclosed in the present application are executed.

[0164] The simulation device provided by the present application adopts the simulation method in the above embodiment, so that the joint simulation architecture of the multi-rigid body physical model and the functional simulation unit model is lightweight and easy to migrate. Compared with the prior art, the beneficial effects of the simulation device provided by the present application are the same as the beneficial effects of the simulation method provided by the above embodiment, and the other technical features in the simulation device are the same as the features disclosed in the method of the previous embodiment, which will not be repeated here.

[0165] It should be understood that the various parts disclosed in this application can be implemented by hardware, software, firmware or a combination thereof. In the description of the above embodiments, specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0166] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

[0167] The present application provides a computer-readable storage medium having computer-readable program instructions (ie, computer programs) stored thereon, and the computer-readable program instructions are used to execute the simulation method in the above-mentioned embodiment.

[0168] The computer-readable storage medium provided in the present application may be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, systems or devices, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, system or device. The program code contained on the computer-readable storage medium may be transmitted using any appropriate medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination of the above.

[0169] The computer-readable storage medium may be included in the simulation device; or may exist independently without being assembled into the simulation device.

[0170] The above-mentioned computer-readable storage medium carries one or more programs. When the above-mentioned one or more programs are executed by the simulation device, the simulation device: processes the functional simulation unit file based on the functional simulation unit model parsing interface to obtain the functional simulation unit model, and processes the multi-rigid body physical model file based on the simulation file input interface to obtain the multi-rigid body physical model; obtains the output result of the functional simulation unit model based on the multi-rigid body physical model simulation interface, and uses the output result to drive the multi-rigid body physical model to simulate to obtain the simulation result; outputs the simulation result based on the simulation result output interface.

[0171] Computer program code for performing the operations of the present application may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0172] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present application. In this regard, each square box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two square boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0173] The modules involved in the embodiments described in this application may be implemented by software or hardware, wherein the name of the module does not constitute a limitation on the unit itself in some cases.

[0174] The readable storage medium provided by the present application is a computer-readable storage medium, which stores computer-readable program instructions (i.e., computer programs) for executing the above-mentioned simulation method, so that the joint simulation architecture of the multi-rigid body physical model and the functional simulation unit model is lightweight and easy to migrate. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided by the present application are the same as the beneficial effects of the simulation method provided by the above-mentioned embodiment, and will not be repeated here.

[0175] The above descriptions are only some embodiments of the present application, and are not intended to limit the patent scope of the present application. All equivalent structural changes made using the contents of the present application specification and drawings under the technical concept of the present application, or direct / indirect applications in other related technical fields are included in the patent protection scope of the present application.

Claims

1. A simulation method, characterized in that: The method comprises: Processing the functional simulation unit file based on the functional simulation unit model parsing interface to obtain the functional simulation unit model, and processing the multi-rigid body physical model file based on the simulation file input interface to obtain the multi-rigid body physical model; Based on the multi-rigid body physical model simulation interface, the output result of the functional simulation unit model is obtained, and the output result is used to drive the multi-rigid body physical model to perform simulation to obtain a simulation result; The simulation result is output based on a simulation result output interface.

2. The method according to claim 1, characterized in that The step of processing the functional simulation unit file based on the functional simulation unit model parsing interface to obtain the functional simulation unit model comprises: Parsing the functional simulation unit file based on the functional simulation unit model parsing interface to construct an instantiation object of the functional simulation unit model; Acquire configuration parameters of the instantiated object, wherein the configuration parameters are obtained by parsing the function simulation unit file and / or determined based on received configuration instructions; The configuration parameters are used to configure the attribute parameters of the instantiated object to obtain the functional simulation unit model.

3. The method according to claim 2, characterized in that After the step of using the output result to drive the multi-rigid body physical model to perform simulation and obtain the simulation result, the method further includes: Feedback the simulation result of the current simulation step to the functional simulation unit model; The functional simulation unit model is controlled to use the simulation result of the current simulation step as the input of the next simulation step to perform simulation, so as to obtain the output result of the next simulation step.

4. The method according to claim 1, characterized in that When the functional simulation unit files include at least two, the step of obtaining the output result of the functional simulation unit model based on the multi-rigid body physical model simulation interface and using the output result to drive the multi-rigid body physical model to simulate, before obtaining the simulation result, further includes: Parsing each of the functional simulation unit files based on the functional simulation unit model parsing interface to determine the logical connection relationship between each functional simulation unit model; Based on the logical connection relationship, calling the corresponding functional simulation unit model to perform joint simulation, and obtaining the joint simulation results of each functional simulation unit model; The output result is obtained according to the joint simulation result.

5. The method according to claim 1, characterized in that The method further comprises: Obtain the file format and file path of the function simulation unit file; Performing compliance testing on the function simulation unit file based on the file format and the file path to obtain a compliance testing result; If the compliance detection result is compliance, executing the step of processing the functional simulation unit file based on the functional simulation unit model parsing interface to obtain the functional simulation unit model; If the compliance detection result is non-compliant, return to the step of obtaining the file format and file path of the function simulation unit file.

6. The method according to claim 5, characterized in that The step of performing compliance detection on the function simulation unit file based on the file format and the file path to obtain a compliance detection result comprises: If the file format is a preset file format and the file path is a preset file path, determining that the compliance detection result corresponding to the function simulation unit file is compliant; If the file format is not the preset file format or the file path is not the preset file path, it is determined that the compliance detection result corresponding to the function simulation unit file is non-compliant.

7. The method according to claim 1, characterized in that The step of using the output result to drive the multi-rigid body physical model to perform simulation and obtain the simulation result comprises: Determining motion parameters of the multi-rigid body physical model based on the multi-rigid body physical model simulation interface, wherein the motion parameters include at least one of a simulation step size, a solution algorithm, a simulation time, a simulation data type, and a simulation step interval; The multi-rigid body physical model is simulated based on the motion parameters to obtain the simulation result.

8. A simulation device, characterized in that: The device comprises: A model building module is used to process the function simulation unit file based on the function simulation unit model parsing interface to obtain the function simulation unit model, and to process the multi-rigid body physical model file based on the simulation file input interface to obtain the multi-rigid body physical model; A simulation module, used for obtaining the output result of the functional simulation unit model based on the multi-rigid body physical model simulation interface, and using the output result to drive the multi-rigid body physical model to perform simulation to obtain a simulation result; The output module is used to output the simulation result based on the simulation result output interface.

9. A simulation device, characterized in that: The device comprises: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program is configured to implement the steps of the simulation method according to any one of claims 1 to 7.

10. A storage medium, characterized in that: The storage medium is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, the steps of the simulation method according to any one of claims 1 to 7 are implemented.

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