Cross-platform integrated simulation method based on APP architecture

Abstract

The invention relates to the technical field of unmanned driving testing, and discloses a cross-platform integrated simulation method based on an APP architecture, which is used for integrating a vehicle model unit, a control unit and a vehicle aerodynamic model unit through the APP architecture. The vehicle model unit constructs a vehicle model according to vehicle dynamics, the vehicle aerodynamic model unit is used for obtaining real-time aerodynamic load borne by a vehicle body, and the control unit is used for constructing a control strategy for compiling simulation parameters; simulation parameter regulation and control are performed on the vehicle model and the vehicle aerodynamics model through the control unit, so that joint simulation testing is realized. According to the method, data interaction and dynamic solution of various simulation parameters in each unit are achieved, multi-platform joint simulation testing is further achieved, the testing cost is reduced, and the research and development efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the field of unmanned driving test technology, and in particular to a cross-platform integrated simulation method based on APP architecture. Background Art

[0002] Testing plays a vital role in the development of vehicle autonomous driving technology. This necessity stems from the complexity and safety requirements of autonomous driving technology. Testing can significantly reduce development time and costs while ensuring the maturity and reliability of the technology. However, autonomous driving technology has not yet reached the standard for full implementation and still requires a lot of testing and verification work in multiple dimensions.

[0003] In vehicle autonomous driving tests, the parameters that need to be measured are diverse and complex, including but not limited to key indicators such as speed, center of mass distance, amplitude, damping coefficient and brake ratio. These parameters are crucial to evaluating the performance of the autonomous driving system, and they involve multiple aspects such as the vehicle's power performance, handling stability, braking efficiency and safety performance. In order to comprehensively and accurately obtain these parameters, multiple types of tests such as vehicle performance testing, parameter simulation testing and simulation coupling testing are required.

[0004] However, existing test platforms often have limitations and cannot complete all test items on the same platform. This leads to large errors and inconsistencies between test results, making it difficult to accurately evaluate the overall performance of the autonomous driving system. Therefore, in response to the performance requirements of unmanned driving detection, it is urgent to build a set of simulation test methods that can be integrated on multiple platforms to meet comprehensive, accurate, and effective simulation detection and improve detection efficiency. Summary of the invention

[0005] The present invention aims to provide a cross-platform integrated simulation method based on APP architecture to solve the problems existing in the current unmanned driving test field, such as high multi-party collaboration requirements, complex detection operations, low detection efficiency and high testing costs.

[0006] To achieve the above-mentioned purpose, the present invention adopts the following technical scheme: a cross-platform integrated simulation method based on the APP architecture, which integrates a vehicle model unit, a control unit and a vehicle aerodynamic simulation model unit through the APP architecture; the vehicle model unit is used to construct a vehicle dynamics model, the vehicle aerodynamic simulation model unit is used to obtain the real-time aerodynamic load on the vehicle body, and the control unit is used to construct a control strategy for compiling simulation parameters; the control unit is used to respectively control the parameters of the vehicle model and the vehicle aerodynamic simulation model to realize joint simulation and automatic driving correction control effect test.

[0007] The principles and advantages of this solution are:

[0008] When conducting simulation tests on autonomous driving, since the testing requirements for each performance are different, in order to improve the test accuracy, a more professional and targeted simulation test system will be used. Although the test accuracy is improved, for the performance test of the entire vehicle, a variety of different simulation test systems are required to work together for testing, which leads to complex test operations, low test efficiency, high test costs and long test times.

[0009] The present invention integrates the requirements of automatic driving of the lateral stability of the whole vehicle, constructs a vehicle model unit, a control unit and a vehicle aerodynamic simulation model unit, and integrates the three through an APP framework to achieve data interaction and solution of each unit, thereby realizing multi-platform joint simulation testing and improving R&D efficiency. At the same time, the present invention is based on the integration of multiple simulation platforms, which can meet the simulation accuracy requirements and ensure the stability and reliability of numerical simulation.

[0010] Furthermore, the control unit includes a front wheel steering angle control module and a longitudinal control module; the front wheel steering angle control module is used to control the front wheel steering angle of the vehicle model, and the longitudinal control module is used to control the driving speed and acceleration of the vehicle model.

[0011] Beneficial effects: The vehicle's driving path can be obtained by controlling the vehicle's front wheel steering angle value, achieving the effect of accurately controlling the driving path, allowing the vehicle to accurately track the driving path, while reducing the error value, so that the vehicle can travel according to the set trajectory; and the longitudinal control module can control the vehicle's driving speed and acceleration, thereby improving the effective control of vehicle simulation parameters, achieving an ideal test driving state, reducing the difficulty of control operations, simplifying the test control quantity, and making it more conducive to the control quantity reaching a stable planned value.

[0012] Furthermore, the vehicle model unit constructs the vehicle model using a two-degree-of-freedom vehicle dynamics model according to the yaw and lateral motion of the vehicle.

[0013] Furthermore, the vehicle model is expressed as:

[0014]

[0015] In the formula, is the lateral acceleration, is the yaw angular acceleration; m is the mass of the vehicle; l f is the distance from the front wheel to the center of mass of the vehicle, l r v is the distance from the rear wheel to the center of mass of the vehicle; x is the longitudinal velocity of the vehicle, v y is the lateral velocity of the vehicle; is the yaw angle, is the yaw angular velocity, δ f is the front wheel turning angle, cf is the cornering stiffness of the front wheel of the vehicle, c r is the cornering stiffness of the rear wheel of the vehicle; z is the moment of inertia of the vehicle around the z-axis.

[0016] Beneficial effects: The vehicle model is constructed through two-degree-of-freedom vehicle dynamics to simplify the vehicle model, thereby simplifying the modeling problem and ensuring modeling stability.

[0017] Furthermore, the method also includes constructing a data port in the vehicle model unit and transmitting data with the control unit through the data port.

[0018] Beneficial effect: The vehicle model unit and the control unit can exchange data through the data port, so that parameter adjustment can be completed through the APP without opening the control unit, improving operation efficiency, ensuring simulation accuracy and reducing operation configuration.

[0019] Furthermore, the data port includes an input interface and an output interface, the input interface is used to transmit control parameter variables, and the output interface is used to transmit reference variable values.

[0020] Beneficial effect: Through different connection ports, the accuracy and timeliness of data transmission are ensured.

[0021] Further, the vehicle aerodynamics simulation model construction includes the following steps:

[0022] Step 1: Initialization. For the problem of joint simulation integration of multiple simulation software, the file storage location needs to be unified first. All solution files and model files are saved in the same subfolder to facilitate subsequent simulation compilation.

[0023] Step 2: Set the working environment parameters, including coordinate system, working grid, modeling area, gravity and coordinate window;

[0024] Step 3, creating a mechanism model, and setting the mechanism parameters of the mechanism model, wherein the mechanism parameters include hard points, marking points, connection pairs, and kinematic pairs;

[0025] Step 4: simulation test, data interaction and dynamic solution of the created simulation model.

[0026] Furthermore, the method also includes adding interface parameters to the vehicle aerodynamics simulation model unit and connecting with the control unit through the interface parameters.

[0027] Beneficial effect: The simulation model unit is connected to the control unit through interface parameters to achieve lateral stability control of the vehicle.

[0028] Furthermore, it also includes encapsulation of the APP integration architecture, which includes basic parameter settings, data preprocessing and framework design.

[0029] Furthermore, the framework design is constructed through three functions, including a start control unit function, a create simulation command function and a create component function; the start control unit function is used to connect and call the control unit; the create simulation command function is used to call simulation parameters; and the create component function is used to associate the properties of each component. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 This is a schematic diagram of the framework structure of the first embodiment of the present invention;

[0031] Figure 2 This is the APP display interface of the first embodiment of the present invention. DETAILED DESCRIPTION

[0032] The following is further described in detail through specific implementation methods:

[0033] The reference numerals in the drawings of the specification include: vehicle model unit 1, control unit 2, vehicle aerodynamic simulation model unit 3, APP interface 4.

[0034] Embodiment 1

[0035] The cross-platform integrated simulation method based on the APP architecture in this embodiment is used to solve the problem that the existing simulation test requires multi-platform collaborative operation, the operation is complicated and the detection efficiency is low, so as to realize the joint simulation of vehicle multi-body dynamics, vehicle aerodynamics and lateral stability control.

[0036] As attached Figure 1 As shown, a cross-platform integrated simulation system based on APP architecture is designed and constructed. By adopting APP architecture to integrate vehicle model unit 1, control unit 2 and vehicle aerodynamic simulation model unit 3, data interaction between multiple modules is completed, and then simulation requirements for different performance selections are realized, and simulation call tests can be performed through APP. The specific design method includes the following steps:

[0037] S1, construct a control unit 2 of the vehicle.

[0038] The control unit 2 includes a front wheel angle control module and a longitudinal control module. In this embodiment, the control unit of the autonomous driving vehicle is constructed in a Simulink module.

[0039] Among them, the front wheel steering angle control module is used to calculate and control the front wheel steering angle value of the vehicle. According to automobile theory and vehicle path tracking research, the vehicle's driving trajectory can be obtained by calculating the front wheel steering angle of the vehicle, and thus the driving path of the vehicle model can be controlled by controlling the front wheel steering angle value, so that it is as close to the expected driving value as possible. In this embodiment, the sliding mode control method is used to control the front wheel steering angle value, and the front wheel steering angle value is calculated under the constraints of vehicle dynamics.

[0040] The longitudinal control module is used to control the vehicle longitudinally, specifically to control the vehicle's driving speed and acceleration. The set parameters are debugged to control the driving speed and acceleration. The set parameters include the engine speed and torque. When the speed and torque change, the engine power changes, and the vehicle's driving speed and acceleration change. In this embodiment, the longitudinal PID method, i.e., the proportional-integral-differential controller, is applied to control the driving speed and acceleration by debugging the speed and torque, so that the control quantity can stably reach the planned value.

[0041] S2, construct vehicle model unit 1.

[0042] According to the principles of vehicle dynamics, a vehicle model is constructed. In this embodiment, the vehicle model is constructed in the Carsim (vehicle dynamics simulation tool) module using a two-degree-of-freedom vehicle dynamics model based on the yaw and lateral motion of the vehicle to simplify the model and reduce model construction problems, thereby quickly calling the corresponding vehicle model, reducing the complicated modeling and parameter adjustment time, and improving the efficiency of vehicle model construction. The specific expression is as follows:

[0043]

[0044] In the formula, is the lateral acceleration, is the yaw angular acceleration; m is the mass of the vehicle; l f is the distance from the front wheel to the center of mass of the vehicle, l r v is the distance from the rear wheel to the center of mass of the vehicle; x is the longitudinal velocity of the vehicle, v y is the lateral velocity of the vehicle; is the yaw angle, is the yaw angular velocity, δ f is the front wheel turning angle, c f is the cornering stiffness of the front wheel of the vehicle, c r is the cornering stiffness of the rear wheel of the vehicle; z is the moment of inertia of the vehicle around the z-axis.

[0045] In this embodiment, a data port is constructed in the vehicle model unit 1 so that the data in the vehicle model unit 1 can be transmitted and interacted with the data in the control unit 2. Among them, the data port includes an input interface and an output interface. The input interface is used to transmit control parameter variables, including but not limited to data such as the front wheel angle, throttle, and brake; the output interface is used to transmit reference variable values, including but not limited to data such as the coordinates, speed, and state quantity of the vehicle. In this embodiment, the data port uses the Matlab / simulink interface that comes with Carsim. By selecting the Simulink module in the Models component of the Carsim module and the specific save address of the simulation file, the Carsim module is connected to the Simulink module, and the verification and development of the control algorithm are realized through the Carsim vehicle model and the Simulink model. Thereby realizing the data transmission between the vehicle model unit 1 and the control unit 2, and realizing the simulation control of the vehicle model.

[0046] S3, establishing a vehicle aerodynamics simulation model unit 3.

[0047] Conduct simulation analysis on the kinematics and dynamics of the software mechanical system, build a vehicle aerodynamic simulation model, and mainly use Adams software to achieve multi-body dynamics simulation. The specific steps include:

[0048] S3.1, in order to solve the problem of joint simulation integration of multiple simulation software, we first initialize and unify the file saving location. All solution files and model files are saved in the same subfolder to facilitate the subsequent simulation compilation and improve the simulation compilation efficiency.

[0049] S3.2, set the working environment parameters. According to the simulation analysis, set the environmental parameters, which include the coordinate system, working grid, modeling area, gravity and coordinate window, etc. At the same time, different vehicle parameters can be set according to the test environment and vehicle structure to restore the actual vehicle operation status.

[0050] S3.3, create a mechanism model, set the mechanism parameters of each component of the vehicle model according to the vehicle's geometric characteristics, where the mechanism parameters include hard points, marking points, connection pairs, kinematic pairs, etc., to build a complete mechanical system; to reproduce the structural movement of the real vehicle, ensure that the model is consistent with the actual vehicle movement, and reduce measurement errors.

[0051] S3.4, simulation test, to ensure that the set working environment and mechanism model meet the requirements of the simulation test model. In this embodiment, Adams and Matlab are used for joint simulation, the mechanical system established by Adams is exported to Simulink, and the corresponding control model is established to achieve the simulation requirements.

[0052] The whole vehicle model is then formed through the vehicle aerodynamics simulation model unit 3. In this embodiment, the vehicle aerodynamics simulation model unit 3 is constructed through the Adams module, and for multi-body dynamics simulation, it highly integrates the multi-body dynamics simulation functions commonly used in automobiles, truly simulates the vehicle motion process, and establishes a whole vehicle model with three-dimensional features, which is convenient for verifying the effectiveness of the control algorithm and the accuracy of the simulation. After completing the vehicle aerodynamics simulation model unit 3, add interface parameters to the vehicle aerodynamics simulation model unit 3 so that it is connected to the data interface of the control unit 2, and then the Adams module is connected to the Simulink module, and the path tracking control algorithm is designed through the vehicle control unit to realize the joint simulation control of multiple modules. In this embodiment, the interface parameters are force and torque parameters.

[0053] S4, encapsulates and packages the integrated multiple modules to form an independent APP software.

[0054] In this embodiment, the APP design is packaged based on Matlab / Appdesigner. Different control algorithms can be established through packaging, and then the control algorithms can be selected according to different test requirements to achieve the switching requirements of multiple test functions. The specific packaging process includes the following sub-steps:

[0055] S4.1, basic parameter settings. When encapsulating the APP, first set the basic parameters of the APP software so that multi-module data can be displayed on the same platform in split screen on the APP interface 4. Set the starting position of the file in the same subfolder, and set the working directory of multiple modules to the same address, which is conducive to the solver calculation to ensure normal operation. At the same time, when making basic settings for the constructed model, define the data output as not a single output, and the data is in the form of an array, which is saved in the Workspace to facilitate the acquisition of simulation output data and compile without errors. At the same time, set the control parameter variables and the expected reference variable values ​​in the model explorer for compiling the model, thereby realizing compilation control of the constructed model and adjusting the simulation parameters.

[0056] S4.2, data preprocessing. After completing the basic settings, the data needs to be preprocessed before reading the data to ensure that the calculation matrix can be read. Specifically, the matrix data is converted into the vector form of each variable through the function, and it is saved in the folder and read accordingly through the load function. This ensures the accuracy and effectiveness of data reading while reducing the amount of data calculation. Since the data is generated from different modules, the order of arrangement of the original data will change after reading. Therefore, data preprocessing mainly arranges the data in sequence, arranges the read data in the original correct order, and then uses and post-processes it to ensure the accuracy and effectiveness of the data.

[0057] S4.3, APP framework design. In this embodiment, the APP framework is mainly constructed through the following three functions, namely, the start control unit 2 function, the create simulation command function and the create component function. Among them, the start control unit 2 function is a run control call to the control unit 2, so that the control unit 2 can be directly run without opening the Simulink module, so as to realize the regulation of simulation parameters and reduce the operation configuration to be suitable for APP operation.

[0058] The simulation command function is used to visualize the simulation command, which is convenient for selecting and debugging the simulation parameters directly through the APP, reducing the difficulty of operation. The component function is used to set the relevant properties of each component in the APP, so that the components in the APP can call each other. The simulation model obtains the set simulation parameters through the component function, thereby realizing joint simulation testing. Finally, the constructed APP interface is as shown in the attached figure. Figure 2 As shown, the left side is the test result curve graph, the lower right side is the whole vehicle model simulation parameter setting area and data processing area, and the upper right side is the simulation software coupling platform image output area formed according to the whole vehicle model parameters.

[0059] In simulation testing, in order to meet the requirements of vehicle performance testing, the vehicle performance test will be fully and completely tested, so as to obtain more accurate test data and debug according to the data. Therefore, for vehicle simulation testing with many test items and complex test processes, the result output items are too many, and it is difficult to meet the requirements of comprehensive and effective display of the results on the APP interface, making it difficult for APP operation testing to meet the test requirements.

[0060] In the process of constructing the vehicle dynamics model, it is usually based on the Newton vector mechanics system and the Lagrangian analytical mechanics system, using particles and particle acceleration for modeling. It is believed that the more accurate the model is, the more stable and reliable the test results will be. However, because the model is too accurate, most data can only be modeled based on theory. The formula derivation factors required under the theoretical basis are many and the derivation steps are complicated. In fact, it is easier to produce errors under multi-layer calculations, and the modeling process is more complicated and cumbersome, and it is even more difficult to integrate with other simulation platforms.

[0061] The present application has cleverly discovered that in the construction of the vehicle simulation model, the main purpose is to obtain accurate and realistic simulation tests, and the simulation parameters required for this test do not require all the simulation parameters of each simulation software, but can meet the needs of the simulation test and can achieve authenticity testing. To this end, after research and testing, the present application has reasonably and effectively selected the parameters of the acceleration drive, braking and steering wheel input and adjustment of the vehicle under different road conditions in the Carsim vehicle dynamics simulation software, and intuitively analyzed the various responses of the car in the form of curves and animations, and no longer requires all the simulation parameter items of the Carsim vehicle dynamics simulation software. The Adams software is selected to perform statics, kinematics and dynamics analysis on the virtual mechanical system in the vehicle, and all the functional modules and toolboxes in the Adams software are no longer obtained to reduce the parameter item settings of the Adams software. At the same time, the car module highly integrates the commonly used multi-body dynamics simulation functions of the car, and outputs response curves such as displacement, velocity, and acceleration. After selecting appropriate simulation parameters, this application integrates different simulation requirements and the advantages of various software as the starting point, integrates the carsim vehicle dynamics simulation scenario, and reflects the vehicle control effect; the Adams multi-body dynamics simulation vehicle model is more complex and more accurate, thereby effectively simplifying the integrated calculation process, while being highly close to the real vehicle effect, and is used to meet the requirements of testing and simulating the vehicle's handling stability, braking, smoothness, power and economy. Performance, etc., can also achieve the purpose of simulation testing, and can be completed simultaneously on the same platform, reducing intermediate errors and making the test effect more accurate.

[0062] This solution reduces simulation data by selecting integrated simulation parameter items, and then directly runs the control unit without calling more complex simulation software, which greatly reduces the operation complexity of the APP. It also visualizes the simulation commands and directly selects and debugs the simulation parameters through the APP to reduce the difficulty of operation. At the same time, it associates component functions with parameters and outputs the simulation test results through simple graphics, so that the APP can meet the test requirements.

[0063] In this embodiment, by constructing the vehicle model unit 1, the control unit 2 and the vehicle aerodynamics simulation model unit 3 respectively, and establishing a data port, the data of the vehicle model unit 1, the control unit 2 and the vehicle aerodynamics simulation model unit 3 can interact, so that the vehicle model unit 1 and the vehicle aerodynamics simulation model unit 3 are controlled by the control unit 2, and a simple and fast joint simulation operation is achieved, and there is no need to open multiple model platforms separately, so as to achieve multi-platform integrated simulation.

[0064] In order to improve the performance technology and stability of autonomous driving, targeted tests are now conducted during testing, which requires measuring multiple parameters such as speed, center of mass distance, amplitude, damping coefficient, brake ratio, etc. These contents require vehicle performance testing, parameter simulation testing, and simulation coupling testing to solve the corresponding technical problems in a targeted manner, thereby improving overall performance. In order to improve test accuracy, these tests can only use dedicated separate test software, resulting in the inability of these test parameters to complete all test items on the same platform when testing multiple performances of autonomous driving, resulting in large errors in the test results. Therefore, efforts need to be made to complete all tests on the same platform, so that the multiple performance test results of the whole vehicle are no longer separated from each other, but unified as a whole, so that the test results can better meet the authenticity requirements and improve test efficiency. Therefore, this solution does not aim to build a sophisticated vehicle model to improve the test results, but to simplify the construction of the vehicle model while meeting the test requirements, so as to meet the authenticity requirements of the vehicle simulation test. At the same time, it can integrate the simulation performance of multiple platforms and realize the same-platform testing, so that the test results can be correlated and integrated with each other, thereby improving the efficiency of the vehicle test. The test results can be more realistic and fit the actual situation and meet various test requirements.

[0065] The above is only an embodiment of the present invention, and the common knowledge such as the known specific technical solutions and / or characteristics in the solution is not described in detail here. It should be pointed out that for those skilled in the art, without departing from the technical solution of the present invention, several modifications and improvements can be made, which should also be regarded as the protection scope of the present invention, and these will not affect the effect of the implementation of the present invention and the practicality of the patent. The scope of protection required by this application shall be based on the content of its claims, and the specific implementation methods and other records in the specification can be used to interpret the content of the claims.

Claims

1. A cross-platform integrated simulation method based on APP architecture, characterized by: An APP architecture is adopted to integrate a vehicle model unit, a control unit and a vehicle aerodynamic simulation model unit; the vehicle model unit constructs a vehicle model according to vehicle dynamics, the control unit is used to construct a control strategy for compiling simulation parameters, and the vehicle aerodynamic simulation model unit is used to obtain real-time aerodynamic loads on the vehicle body; the simulation parameters of the vehicle model and the vehicle aerodynamic simulation model are respectively adjusted by the control unit to realize joint simulation testing.

2. The cross-platform integrated simulation method based on APP architecture according to claim 1 is characterized in that: The control unit includes a front wheel steering angle control module and a longitudinal control module; the front wheel steering angle control module is used to control the front wheel steering angle of the vehicle model, and the longitudinal control module is used to control the driving speed and acceleration of the vehicle model.

3. The cross-platform integrated simulation method based on APP architecture according to claim 1 is characterized in that: The vehicle model unit constructs a vehicle model using a two-degree-of-freedom vehicle dynamics model according to the yaw and lateral motion of the vehicle.

4. The cross-platform integrated simulation method based on APP architecture according to claim 3 is characterized in that: The expression of the vehicle model is: In the formula, is the lateral acceleration, is the yaw angular acceleration, m is the mass of the vehicle; l f is the distance from the front wheel to the center of mass of the vehicle, l r v is the distance from the rear wheel to the center of mass of the vehicle; x is the longitudinal velocity of the vehicle, v y is the lateral velocity of the vehicle; is the yaw angle, is the yaw angular velocity, δ f is the front wheel turning angle, c f is the cornering stiffness of the front wheel of the vehicle, c r is the cornering stiffness of the rear wheel of the vehicle; z is the moment of inertia of the vehicle around the z-axis.

5. The cross-platform integrated simulation method based on APP architecture according to claim 1 is characterized in that: The invention also includes constructing a data port in the vehicle model unit and transmitting data with the control unit through the data port.

6. The cross-platform integrated simulation method based on APP architecture according to claim 5 is characterized in that: The data port includes an input interface and an output interface, the input interface is used to transmit control parameter variables, and the output interface is used to transmit reference variable values.

7. The cross-platform integrated simulation method based on APP architecture according to claim 1 is characterized in that: The vehicle aerodynamics simulation model construction comprises the following steps: Step 1: Initialization: Unify the file saving location, and save all solution files and model files in the same subfolder to facilitate subsequent simulation compilation; Step 2: Set the working environment parameters; the environmental parameters include coordinate system, working grid, modeling area, gravity and coordinate window; Step 3, creating a mechanism model; setting the mechanism parameters of the model, wherein the mechanism parameters include hard points, marking points, connection pairs, and kinematic pairs; Step 4: Simulation test, data interaction and dynamic solution of the created vehicle aerodynamic simulation model.

8. The cross-platform integrated simulation method based on APP architecture according to claim 1, characterized in that: The method also includes adding interface parameters to the vehicle aerodynamics simulation model unit and connecting with the control unit through the interface parameters.

9. The cross-platform integrated simulation method based on APP architecture according to claim 1, characterized in that: It also includes the packaging of the APP integration architecture, which includes basic parameter settings, data preprocessing and framework design.

10. The cross-platform integrated simulation method based on APP architecture according to claim 9, characterized in that: The framework design is constructed through three functions, including starting the control unit function, creating a simulation command function and creating a component function; the starting control unit function is used to connect and call the control unit; the creating simulation command function is used to call simulation parameters; and the creating component function is used to associate the properties of each component.

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