Joint simulation proxy connection middleware structure and application method

Abstract

A joint simulation proxy connection middleware structure is characterized in that three groups of Ethernet cards and real-time network cards are arranged on a simulation system proxy terminal and are respectively and correspondingly connected with an Ethernet I, an Ethernet II, an Ethernet III, a real-time network I, a real-time network II and a real-time network III; wherein the Ethernet I and the real-time network I adopt a traditional time driving mode to perform information and data interaction with the inside of a simulation system to which the Ethernet I and the real-time network I belong, and the Ethernet II, the Ethernet III, the real-time network II and the real-time network III are respectively connected with a semi-physical simulation system and a joint simulation agent, and adopt a data driving mode to perform information and data interaction; the timing equipment is connected through a cable or an optical fiber; time synchronization between systems is completed through a timing system device, and effective synchronous communication between two simulation parties or multiple simulation parties in a joint simulation mode is achieved; through a data driving mode, the influence on a joint simulation result due to overlong simulation data read-write time is effectively avoided, and the method has the characteristics of high real-time performance, strong operability, stable operation and the like.

Description

Technical Field

[0001] The invention relates to a semi-physical simulation system, and in particular to a joint simulation agent connection middleware structure and an application method. Background Art

[0002] Most existing semi-physical simulation systems use a time-driven approach to process various instruction events and data. When the system is running, the simulation model submits simulation events to the event manager, and the event manager requests the time manager to approve its execution of simulation events. The time manager is responsible for determining the time validity of all events submitted by event managers, and notifies event managers that meet the execution conditions to execute the events they request. As simulation events are continuously executed, the simulation time is pushed forward until the simulation ends. In the joint simulation process, due to certain delays in information interaction and data transmission, there are time differences in data interaction between simulation systems and between systems and joint simulation platforms. If the time-driven method is still used for simulation, the simulation data will be mismatched. The semi-physical simulation system will experience frame loss and data reading and writing time greater than the simulation cycle during operation. As the simulation time continues to grow, the accumulated time error will continue to increase. Especially for simulation systems with low synchronization accuracy, the accumulated time error of the simulation program can reach milliseconds after running for 60 seconds, which will lead to abnormal data solution during the simulation process. In addition, there are errors in the accumulated time errors of different semi-physical simulation systems, which ultimately lead to the inability of the two or more simulation parties to communicate effectively and synchronously, affecting the real-time performance of the joint simulation and thus affecting the simulation results. Summary of the invention

[0003] The purpose of the present invention is to overcome the deficiencies in the prior art, provide a joint simulation proxy connection middleware structure and application method, complete the time synchronization between systems through high-precision time synchronization equipment, the whole simulation platform adopts a unique clock source to obtain a unified absolute time, ensure the clock synchronization of different test equipment and test equipment in each simulation system, thereby avoiding the influence of time errors between different semi-physical simulation systems on the simulation results, and ensure that each semi-physical simulation system runs according to a unified simulation beat, so as to achieve effective synchronous communication between two or more simulation parties in the joint simulation mode; through a data-driven method, the simulation system solution data is forwarded upon receipt, and the simulation system solution data is published to the Ethernet / real-time network in advance, so as to reduce the data reading and writing waiting time, so as to achieve effective synchronous communication between two or more simulation parties in the joint simulation mode, ensure the information closed loop and operation control of the joint simulation, effectively avoid the influence of the long simulation data reading and writing time on the joint simulation results, and have the characteristics of high real-time performance, strong operability, stable operation, etc. At the same time, without changing the overall system architecture, the whole simulation platform synchronization is achieved, which can effectively reduce the debugging and development amount of simulation personnel in the interconnection and interaction with other simulation systems and shorten the debugging cycle, thereby improving the debugging efficiency.

[0004] In order to achieve the above-mentioned purpose, the present invention adopts the following technical scheme: a joint simulation agent connection middleware structure, three groups of Ethernet cards and real-time network cards are arranged on the simulation system agent terminal, which are respectively connected to Ethernet 1, Ethernet 2, Ethernet 3, real-time network 1, real-time network 2, and real-time network 3, wherein Ethernet 1 and real-time network 1 adopt the traditional time-driven method to exchange information and data with the internal of the simulation system to which they belong, Ethernet 2, Ethernet 3 and real-time network 2, real-time network 3 are respectively connected to the semi-physical simulation system and the joint simulation agent, and the information and data are exchanged in a data-driven mode; the simulation system agent terminal and the joint simulation agent are both provided with a time synchronization device, and the simulation system agent terminal and the time synchronization device of the joint simulation agent are connected by a coaxial cable or an optical fiber to realize time signal transmission, which is used to unify the clocks of the joint simulation agent and each semi-physical simulation system.

[0005] Furthermore, the timing equipment adopts Beidou / GPS timing to send time synchronization signals. The simulation system uses a matching clock card and the precise clock provided by the RTX64 real-time system to obtain the required frame period timing clock through time sharing. The clock is sent to the simulation system in an interrupt manner through the real-time reflective memory network to ensure the frame clock synchronization of different test equipment and participating equipment in the simulation system, and unify the absolute time of the joint simulation agent and semi-physical simulation system.

[0006] Further, the Ethernet 1 and the real-time network 1 are used for the simulation system proxy terminal to communicate internally with the simulation system, wherein the Ethernet 1 is used to receive or issue non-real-time control commands of the simulation system and realize non-real-time data interaction, including simulation configuration, upload / issue simulation files, system self-test and other non-real-time commands and simulation configuration files, simulation system working status, other simulation system working status, heartbeat count non-real-time data interaction or other data and control commands with low real-time requirements; the real-time network 1 is used to receive or issue real-time control commands of the simulation system and realize real-time data interaction, including simulation start, simulation end, abnormal termination, simulation solution data, subsystem control data and real-time data interaction; Ethernet 2 and real-time network 2 are used for the simulation system proxy terminal to communicate and control with the semi-physical simulation system to realize information interaction, wherein Ethernet 2 is used to receive the interaction of non-real-time control commands and non-real-time data of the semi-physical simulation system to the simulation system, or to issue the interaction of non-real-time control commands and non-real-time data of the simulation system to the semi-physical simulation system; real-time network 2 is used to receive or issue the real-time control commands of the simulation system and realize real-time data interaction, and completes the control command reception / issuance and realizes data interaction in the form of system interruption. Ethernet 2 and real-time network 2 adopt a data-driven method to realize the above operations; Ethernet 3 and real-time network 3 are used for communication between the simulation system agent terminal and the joint simulation agent, wherein Ethernet 3 is used to receive the non-real-time control commands and non-real-time data interaction of the joint simulation agent for this simulation system, or to upload the feedback of the non-real-time control commands and non-real-time data interaction of the simulation system to the joint simulation agent; real-time network 3 is used to receive the real-time control commands of the joint simulation agent and realize real-time data interaction; and simulation is carried out in a data-driven manner.

[0007] Furthermore, when the system is running in the data-driven mode, once a simulation command or simulation data is generated, the joint simulation agent uploads the simulation command and data with timestamp information to the Ethernet or real-time network via the Ethernet or real-time network, and the semi-physical simulation system performs judgment and verification. The semi-physical simulation system captures the simulation command or simulation data and returns a feedback message to ensure that the information has been successfully transmitted. According to the received simulation command, it waits for the simulation time to arrive and executes the specified simulation event.

[0008] An application method of a joint simulation agent connection middleware structure, wherein the joint simulation agent and the time synchronization device on each simulation system agent terminal are connected using a coaxial cable or an optical fiber according to the connection distance, and time synchronization information is sent through the time synchronization device to ensure that the time granularity of each simulation system agent terminal is consistent with that of the joint simulation agent, and is used to receive a real-time network interruption signal of the joint simulation agent and process tasks within a simulation frame period; After aligning the time granularity of the joint simulation agent and each simulation system agent terminal, the joint simulation agent sends various files and management commands required for the simulation test preparation phase to the agent terminal in a non-real-time manner through Ethernet, and ensures that each simulation system agent terminal operates normally and waits for the simulation to start; The joint simulation agent sends a simulation start command and uploads the command to the real-time network. Each simulation system agent terminal captures the simulation start command and runs the simulation. During the simulation running phase, each simulation system agent terminal no longer waits for event commands under the original time-driven mode. Instead, it adopts a data-driven mode and directly transmits simulation commands or simulation data to the real-time network for the semi-physical simulation system to capture and judge, wait for the simulation time to arrive, and execute corresponding commands to ensure the real-time nature of the joint simulation.

[0009] The beneficial effects of the present invention are: time synchronization between systems is completed through high-precision time synchronization equipment, and the entire simulation platform adopts a unique clock source to obtain a unified absolute time, ensuring the clock synchronization of different test equipment and test equipment in each simulation system, thereby avoiding the influence of time errors between different semi-physical simulation systems on simulation results, and being able to ensure that each semi-physical simulation system runs according to a unified simulation rhythm, and realizing effective synchronous communication between two or more simulation parties in a joint simulation mode; through a data-driven approach, the simulation system solution data is forwarded as soon as it is received, and the simulation system solution data is published to the Ethernet / real-time network in advance, reducing the data reading and writing waiting time, and realizing effective synchronous communication between two or more simulation parties in a joint simulation mode, ensuring the information closed loop and operation control of the joint simulation, and effectively avoiding the influence of the long simulation data reading and writing time on the joint simulation results, with the characteristics of high real-time performance, strong operability, stable operation, etc. At the same time, without changing the overall system architecture, the entire simulation platform is synchronized, which can effectively reduce the debugging and development workload of simulation personnel in interconnecting and interacting with other simulation systems, shorten the debugging cycle, and improve debugging efficiency; the parts not described in detail in the present invention are existing common technologies. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] The present invention will be further described below in conjunction with the accompanying drawings: Figure 1 The block diagram of the joint simulation agent connection middleware; Figure 2 Schematic diagram of the joint simulation agent connection middleware. DETAILED DESCRIPTION

[0011] The present invention is further described in detail below in conjunction with embodiments and specific implementation modes: Example 1

[0012] like Figure 1 As shown, a joint simulation agent connection middleware structure is arranged on the simulation system agent terminal. Three groups of Ethernet cards and real-time network cards are arranged on the simulation system agent terminal, which are respectively connected to Ethernet 1, Ethernet 2, Ethernet 3, real-time network 1, real-time network 2, and real-time network 3. Among them, Ethernet 1 and real-time network 1 adopt the traditional time-driven method to interact with the internal information and data of the simulation system to which they belong. Ethernet 2, Ethernet 3 and real-time network 2 and real-time network 3 are respectively connected to the semi-physical simulation system and the joint simulation agent, and use the data-driven mode to interact with the information and data; the simulation system agent terminal and the joint simulation agent are both equipped with time synchronization equipment, and the simulation system agent terminal and the time synchronization equipment of the joint simulation agent are connected by coaxial cable or optical fiber to realize time signal transmission, which is used to unify the clocks of the joint simulation agent and each semi-physical simulation system.

[0013] Furthermore, the timing equipment adopts Beidou / GPS timing to send time synchronization signals. The simulation system uses a matching clock card and the precise clock provided by the RTX64 real-time system to obtain the required frame period timing clock through time sharing. The clock is sent to the simulation system in an interrupt manner through the real-time reflective memory network to ensure the frame clock synchronization of different test equipment and participating equipment in the simulation system, and unify the absolute time of the joint simulation agent and semi-physical simulation system.

[0014] Further, the Ethernet 1 and the real-time network 1 are used for the simulation system proxy terminal to communicate internally with the simulation system, wherein the Ethernet 1 is used to receive or issue non-real-time control commands of the simulation system and realize non-real-time data interaction, including simulation configuration, upload / issue simulation files, system self-test and other non-real-time commands and simulation configuration files, simulation system working status, other simulation system working status, heartbeat count non-real-time data interaction or other data and control commands with low real-time requirements; the real-time network 1 is used to receive or issue real-time control commands of the simulation system and realize real-time data interaction, including simulation start, simulation end, abnormal termination, simulation solution data, subsystem control data and real-time data interaction; Ethernet 2 and real-time network 2 are used for the simulation system proxy terminal to communicate and control with the semi-physical simulation system to realize information interaction, wherein Ethernet 2 is used to receive the interaction of non-real-time control commands and non-real-time data of the semi-physical simulation system to the simulation system, or to issue the interaction of non-real-time control commands and non-real-time data of the simulation system to the semi-physical simulation system; real-time network 2 is used to receive or issue the real-time control commands of the simulation system and realize real-time data interaction, and completes the control command reception / issuance and realizes data interaction in the form of system interruption. Ethernet 2 and real-time network 2 adopt a data-driven method to realize the above operations; Ethernet 3 and real-time network 3 are used for communication between the simulation system agent terminal and the joint simulation agent, wherein Ethernet 3 is used to receive the non-real-time control commands and non-real-time data interaction of the joint simulation agent for this simulation system, or to upload the feedback of the non-real-time control commands and non-real-time data interaction of the simulation system to the joint simulation agent; real-time network 3 is used to receive the real-time control commands of the joint simulation agent and realize real-time data interaction; and simulation is carried out in a data-driven manner.

[0015] Furthermore, when the system is running in the data-driven mode, once a simulation command or simulation data is generated, the joint simulation agent uploads the simulation command and data with timestamp information to the Ethernet or real-time network via the Ethernet or real-time network, and the semi-physical simulation system performs judgment and verification. The semi-physical simulation system captures the simulation command or simulation data and returns a feedback message to ensure that the information has been successfully transmitted. According to the received simulation command, it waits for the simulation time to arrive and executes the specified simulation event. Example 2

[0016] like Figure 2 As shown, an application method of a joint simulation agent connection middleware structure, the joint simulation agent and the time synchronization device on each simulation system agent terminal are connected using a coaxial cable or optical fiber according to the connection distance, and time synchronization information is sent through the time synchronization device to ensure that the time granularity of each simulation system agent terminal is consistent with the joint simulation agent, which is used to receive the joint simulation agent real-time network interruption signal and process tasks within the simulation frame period; After aligning the time granularity of the joint simulation agent and each simulation system agent terminal, the joint simulation agent sends various files and management commands required for the simulation test preparation phase to the agent terminal in a non-real-time manner through Ethernet, and ensures that each simulation system agent terminal operates normally and waits for the simulation to start; The joint simulation agent sends a simulation start command and uploads the command to the real-time network. Each simulation system agent terminal captures the simulation start command and runs the simulation. During the simulation running phase, each simulation system agent terminal no longer waits for event commands under the original time-driven mode. Instead, it adopts a data-driven mode and directly transmits simulation commands or simulation data to the real-time network for the semi-physical simulation system to capture and judge, wait for the simulation time to arrive, and execute corresponding commands to ensure the real-time nature of the joint simulation.

[0017] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A joint simulation proxy connection middleware structure, characterized in that: Three groups of Ethernet cards and real-time network cards are arranged on the simulation system agent terminal, which are respectively connected to Ethernet 1, Ethernet 2, Ethernet 3, real-time network 1, real-time network 2 and real-time network 3. Among them, Ethernet 1 and real-time network 1 adopt the traditional time-driven method to interact with the internal simulation system to which they belong, Ethernet 2, Ethernet 3 and real-time network 2 and real-time network 3 are connected to the semi-physical simulation system and the joint simulation agent respectively, and use the data-driven mode to interact with information and data; the simulation system agent terminal and the joint simulation agent are both equipped with time synchronization equipment, and the simulation system agent terminal and the time synchronization equipment of the joint simulation agent are connected by coaxial cable or optical fiber to realize time signal transmission, which is used to unify the clock of the joint simulation agent and each semi-physical simulation system.

2. A joint simulation proxy connection middleware structure according to claim 1, characterized in that: The timing equipment adopts Beidou / GPS timing to send time synchronization signals. The simulation system uses the matching clock card and the precise clock provided by the RTX64 real-time system to obtain the required frame period timing clock through time sharing. The clock is sent to the simulation system in an interrupt mode through the real-time reflective memory network to ensure the synchronization of frame clocks of different test equipment and participating equipment in the simulation system, and unify the absolute time of the joint simulation agent and semi-physical simulation system.

3. A joint simulation proxy connection middleware structure according to claim 1, characterized in that: The Ethernet 1 and the real-time network 1 are used for the simulation system proxy terminal to communicate internally with the simulation system, wherein the Ethernet 1 is used to receive or issue non-real-time control commands of the simulation system and to implement non-real-time data interaction, including simulation configuration, upload / issue simulation files, system self-check and other non-real-time commands and simulation configuration files, simulation system working status, other simulation system working status, heartbeat count non-real-time data interaction or other data and control commands with low real-time requirements; Real-time network 1 is used to receive or issue real-time control commands of the simulation system and realize real-time data interaction, including simulation start, simulation end, abnormal termination, simulation solution data, subsystem control data and real-time data interaction; Ethernet 2 and real-time network 2 are used for the simulation system proxy terminal to communicate and control with the semi-physical simulation system to realize information interaction, wherein Ethernet 2 is used to receive the interaction of non-real-time control commands and non-real-time data of the semi-physical simulation system to the simulation system, or to issue the interaction of non-real-time control commands and non-real-time data of the simulation system to the semi-physical simulation system; real-time network 2 is used to receive or issue the real-time control commands of the simulation system and realize real-time data interaction, and completes the control command reception / issuance and realizes data interaction in the form of system interruption. Ethernet 2 and real-time network 2 adopt a data-driven method to realize the above operations; Ethernet 3 and real-time network 3 are used for communication between the simulation system agent terminal and the joint simulation agent, wherein Ethernet 3 is used to receive the non-real-time control commands and non-real-time data interaction of the joint simulation agent for this simulation system, or to upload the feedback of the non-real-time control commands and non-real-time data interaction of the simulation system to the joint simulation agent; real-time network 3 is used to receive the real-time control commands of the joint simulation agent and realize real-time data interaction; and simulation is carried out in a data-driven manner.

4. A joint simulation proxy connection middleware structure according to claim 1, characterized in that: When the system is running in the data-driven mode, once a simulation command or simulation data is generated, the joint simulation agent uploads the simulation command and data with timestamp information to the Ethernet or real-time network via Ethernet or real-time network, and the semi-physical simulation system performs judgment and verification. The semi-physical simulation system captures the simulation command or simulation data and returns a feedback message to ensure that the information has been successfully transmitted. According to the received simulation command, it waits for the simulation time to arrive and executes the specified simulation event.

5. An application method of the joint simulation proxy connection middleware structure as described in claim 1, characterized in that: The time synchronization equipment on the joint simulation agent and each simulation system agent terminal is connected using coaxial cable or optical fiber according to the connection distance. Time synchronization information is sent through the time synchronization equipment to ensure that the time granularity of each simulation system agent terminal is consistent with that of the joint simulation agent. It is used to receive the real-time network interruption signal of the joint simulation agent and process tasks within the simulation frame period. After aligning the time granularity of the joint simulation agent and each simulation system agent terminal, the joint simulation agent sends various files and management commands required for the simulation test preparation phase to the agent terminal in a non-real-time manner through Ethernet, and ensures that each simulation system agent terminal operates normally and waits for the simulation to start; The joint simulation agent sends a simulation start command and uploads the command to the real-time network. Each simulation system agent terminal captures the simulation start command and runs the simulation. During the simulation running phase, each simulation system agent terminal no longer waits for event commands under the original time-driven mode. Instead, it adopts a data-driven mode and directly transmits simulation commands or simulation data to the real-time network for the semi-physical simulation system to capture and judge, wait for the simulation time to arrive, and execute corresponding commands to ensure the real-time nature of the joint simulation.

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