Dynamic real-time simulation and interaction method and system

Abstract

The invention relates to the technical field of simple dynamics real-time simulation, and discloses a dynamics real-time simulation and interaction method and system, and the system comprises a simulation machine which is used for transmitting a group of real-time downlink messages to a real-time interaction module at a first preset time interval; the real-time interaction module is used for receiving a real-time downlink message and transmitting the real-time downlink message to the dynamic real-time calculation module; the dynamic real-time calculation module is used for executing dynamic calculation according to the real-time downlink message and transmitting a calculation result to the real-time interaction module; the real-time interaction module is also used for converting the calculation result into a real-time uplink message and transmitting the real-time uplink message to the simulation machine; the wave recording module is used for recording and storing data in the interaction and calculation process, and transmitting the stored data to the upper simulation process management platform through the upper communication module at a second preset time interval; and the simulation machine is also used for executing real-time calculation according to the real-time uplink message to obtain a real-time downlink message to be sent.

Description

Technical Field

[0001] The invention relates to the technical field of simpack dynamics real-time simulation, and in particular to a dynamics real-time simulation and interaction method and system. Background Art

[0002] For multidisciplinary semi-physical simulation systems, one of the issues that the industry is currently concerned about is the real-time performance of the simulation system. The existence of physical objects in the system improves the authenticity of the simulation, but on the other hand, it brings high requirements for real-time performance in order to respond to the feedback speed of the physical objects. This requires the multidisciplinary simulation system to achieve faster simulation speed and smaller communication delay. In terms of dynamics simulation, simpack software is one of the mainstream multi-body dynamics simulation software at present, but if the simpack model is applied to the semi-physical simulation system, it will bring the following problems: First, the simulation speed problem. Due to the complexity of the multi-body dynamics model, simpack software brings a lot of time consumption while achieving more accurate results when simpack software is simulated, which often takes several hours or even longer. This will not be applied to semi-physical simulation systems with high real-time requirements; second, simpack software is difficult to be compatible with other disciplines. The communication software cannot achieve smooth information transmission, and the communication speed under the software application layer communication protocol will also be affected, which cannot be comparable to the hardware-based communication protocol.

[0003] In the existing technical solution, the hardware and operating system platform of other subject simulation systems are used. When deploying the subject simulation model, the simpack dynamics model is exported and modified to adapt to the code and communication protocol of the subject simulation software, and deployed on the machine as a subsystem to realize the simultaneous operation of two simulation models, which is equivalent to performing multi-physics field simulation on the same machine. In this way, the simulation communication rate and compatibility issues of other simulation models as deployed machines are solved.

[0004] Although such existing technologies have solved the adaptability and simulation speed problems of the simpack dynamics model to a certain extent, since the dynamics model does not run on a real-time operating system platform, in order to respond to the rapid feedback of the physical system, the accuracy and scalability of the simpack dynamics model may be sacrificed to a certain extent, and a simplified model may be used for rapid simulation. The second point is that running two or more simulation models simultaneously on the deployment machine is essentially a multi-physics field simulation of the same machine, which has high requirements on the performance of the device, and there are still problems with the interaction with simulation models deployed on other systems. Summary of the invention

[0005] The invention provides a dynamics real-time simulation and interaction method and system, which can solve the technical problems in the prior art.

[0006] The present invention provides a dynamics real-time simulation and interaction system, wherein the system comprises a simulation machine, a dynamics real-time simulation platform, a real-time interaction module, an upper communication module, a wave recording module and an upper simulation process management platform, wherein the dynamics real-time simulation platform comprises a dynamics real-time calculation module, and the dynamics real-time calculation module transmits and interacts with the simulation machine in real-time data through the real-time interaction module, wherein:

[0007] The emulator is used to send a group of real-time downlink messages to the real-time interaction module at a first predetermined time interval;

[0008] The real-time interaction module is used to receive the real-time downlink message and transmit the real-time downlink message to the dynamics real-time calculation module;

[0009] The dynamics real-time calculation module is used to perform dynamics calculations according to the real-time downlink message and transmit the calculation results to the real-time interaction module. The calculation results include the state parameters of the dynamics union.

[0010] The real-time interaction module is also used to convert the calculation results into real-time uplink messages and transmit the real-time uplink messages to the simulation machine;

[0011] The wave recording module is used to record and store the data in the interaction and calculation process, and transmit the stored data to the upper simulation process management platform through the upper communication module at a second predetermined time interval;

[0012] The simulator is also used to perform real-time calculations based on the real-time uplink messages to obtain real-time downlink messages to be sent.

[0013] Preferably, performing dynamic calculation according to the real-time downlink message includes:

[0014] The dynamic calculation is performed according to the fixed parameters in the fixed parameter table, the data in the external load difference calculation table and the real-time downlink message.

[0015] Preferably, the dynamics real-time calculation module uses a dynamics model calculation program to perform dynamics calculations. The dynamics model calculation program is obtained by performing multi-body dynamics modeling with simpack software. The dynamics model calculation program uses a state-space differential equation solving method.

[0016] Preferably, the wave recording module stores the data records in the interaction and calculation process in the log module.

[0017] Preferably, the first predetermined time interval is 100 microseconds, and the second predetermined time interval is 50 microseconds.

[0018] The present invention also provides a dynamics real-time simulation and interaction method, wherein the method comprises:

[0019] The emulator sends a set of real-time downlink messages to the real-time interaction module at a first predetermined time interval;

[0020] The real-time interaction module receives the real-time downlink message and transmits the real-time downlink message to the dynamics real-time calculation module of the dynamics real-time simulation platform;

[0021] The dynamics real-time calculation module performs dynamics calculation according to the real-time downlink message and transmits the calculation results to the real-time interaction module. The calculation results include the state parameters of the dynamics union.

[0022] The real-time interaction module converts the calculation results into real-time uplink messages and transmits the real-time uplink messages to the simulation machine;

[0023] The wave recording module records and stores the data in the interaction and calculation process, and transmits the stored data to the upper simulation process management platform through the upper communication module at a second predetermined time interval;

[0024] The simulator performs real-time calculations based on the real-time uplink messages to obtain real-time downlink messages to be sent.

[0025] Preferably, performing dynamic calculation according to the real-time downlink message includes:

[0026] The dynamic calculation is performed according to the fixed parameters in the fixed parameter table, the data in the external load difference calculation table and the real-time downlink message.

[0027] Preferably, the dynamics real-time calculation module uses a dynamics model calculation program to perform dynamics calculations. The dynamics model calculation program is obtained by performing multi-body dynamics modeling with simpack software. The dynamics model calculation program uses a state-space differential equation solving method.

[0028] Preferably, the wave recording module stores the data records in the interaction and calculation process in the log module.

[0029] Preferably, the first predetermined time interval is 100 microseconds, and the second predetermined time interval is 50 microseconds.

[0030] Through the above technical solution, the requirements of semi-physical simulation for the real-time performance of the dynamics model can be taken into account, and the real-time performance problem of the dynamics simulation can be solved while ensuring the model authenticity and extensibility of the simpack dynamics model. In addition, by converting simpack into C++ code and optimizing it, the model simulation program can run on a lower-level real-time operating system, reducing the simulation time. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] The included drawings are used to provide a further understanding of the embodiments of the present invention, which constitute a part of the specification, are used to illustrate the embodiments of the present invention, and together with the text description, explain the principles of the present invention. Obviously, the drawings in the following description are only some embodiments of the present invention, and for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0032] Figure 1 A schematic diagram of a dynamics real-time simulation and interaction system according to an embodiment of the present invention is shown;

[0033] Figure 2 A modeling flow chart of a kinetic model calculation program according to an embodiment of the present invention is shown;

[0034] Figure 3 A dynamics simulation calculation flow chart according to an embodiment of the present invention is shown;

[0035] Figure 4 A data transfer timing diagram according to an embodiment of the present invention is shown. DETAILED DESCRIPTION

[0036] It should be noted that, in the absence of conflict, the embodiments in this application and the features in the embodiments can be combined with each other. The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is by no means intended to limit the present invention and its application or use. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0037] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0038] Unless otherwise specifically stated, the relative arrangement of the parts and steps described in these embodiments, numerical expressions and numerical values ​​do not limit the scope of the present invention. At the same time, it should be understood that, for ease of description, the sizes of the various parts shown in the accompanying drawings are not drawn according to the actual proportional relationship. The technology, method and equipment known to ordinary technicians in the relevant field may not be discussed in detail, but in appropriate cases, the technology, method and equipment should be regarded as a part of the authorization specification. In all examples shown and discussed here, any specific value should be interpreted as being merely exemplary, rather than as a limitation. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters represent similar items in the following drawings, so once a certain item is defined in an accompanying drawing, it does not need to be further discussed in subsequent drawings.

[0039] Figure 1 A schematic diagram of a dynamics real-time simulation and interaction system according to an embodiment of the present invention is shown.

[0040] like Figure 1 As shown, an embodiment of the present invention provides a dynamics real-time simulation and interaction system, wherein the system includes a simulator (other simulators), a dynamics real-time simulation platform, a real-time interaction module, an upper communication module, a wave recording module and an upper simulation process management platform, the dynamics real-time simulation platform includes a dynamics real-time calculation module, the dynamics real-time calculation module transmits and interacts with the simulator in real-time data through the real-time interaction module, wherein,

[0041] The emulator is used to send a group of real-time downlink messages to the real-time interaction module at a first predetermined time interval;

[0042] The real-time interaction module is used to receive the real-time downlink message and transmit the real-time downlink message to the dynamics real-time calculation module;

[0043] The dynamics real-time calculation module is used to perform dynamics calculations according to the real-time downlink message and transmit the calculation results to the real-time interaction module. The calculation results include the state parameters of the dynamics union.

[0044] The real-time interaction module is also used to convert the calculation results into real-time uplink messages and transmit the real-time uplink messages to the simulation machine;

[0045] The wave recording module is used to record and store the data in the interaction and calculation process, and transmit the stored data to the upper simulation process management platform through the upper communication module at a second predetermined time interval;

[0046] The simulator is also used to perform real-time calculations based on the real-time uplink messages to obtain real-time downlink messages to be sent.

[0047] Through the above technical solution, the requirements of semi-physical simulation for the real-time performance of the dynamics model can be taken into account, and the real-time performance problem of the dynamics simulation can be solved while ensuring the model authenticity and extensibility of the simpack dynamics model. In addition, by converting simpack into C++ code and optimizing it, the model simulation program can run on a lower-level real-time operating system, reducing the simulation time.

[0048] The simulator may be, for example, an RTLAB simulator. For example, the hardware of the dynamics real-time simulation platform may be composed of an industrial computing platform based on a domestic processor and an FPGA Aurora communication card. The software part includes a real-time operating system RTOS, an FPGA Aurora driver, a dynamics real-time computing module, a wave recording module, a log module, an upper communication module, and the like.

[0049] For the fast communication between other simulation machines and the dynamic model of the semi-physical simulation system, a communication board of FPGA can be built and the real-time communication protocol supported by hardware can be used to achieve compatible fast communication with other simulation machines.

[0050] According to an embodiment of the present invention, performing dynamic calculation according to the real-time downlink message includes:

[0051] The dynamic calculation is performed according to the fixed parameters in the fixed parameter table, the data in the external load difference calculation table and the real-time downlink message.

[0052] According to one embodiment of the present invention, the real-time dynamics calculation module uses a dynamics model calculation program to perform dynamics calculations. The dynamics model calculation program is obtained by performing multi-body dynamics modeling using simpack software. The dynamics model calculation program uses a state-space differential equation solving method.

[0053] According to an embodiment of the present invention, the wave recording module stores the data records in the interaction and calculation process in the log module.

[0054] According to an embodiment of the present invention, the first predetermined time interval is 100 microseconds, and the second predetermined time interval is 50 microseconds.

[0055] The embodiment of the present invention further provides a dynamics real-time simulation and interaction method, wherein the method comprises:

[0056] The emulator sends a set of real-time downlink messages to the real-time interaction module at a first predetermined time interval;

[0057] The real-time interaction module receives the real-time downlink message and transmits the real-time downlink message to the dynamics real-time calculation module of the dynamics real-time simulation platform;

[0058] The dynamics real-time calculation module performs dynamics calculation according to the real-time downlink message and transmits the calculation results to the real-time interaction module. The calculation results include the state parameters of the dynamics union.

[0059] The real-time interaction module converts the calculation results into real-time uplink messages and transmits the real-time uplink messages to the simulation machine;

[0060] The wave recording module records and stores the data in the interaction and calculation process, and transmits the stored data to the upper simulation process management platform through the upper communication module at a second predetermined time interval;

[0061] The simulator performs real-time calculations based on the real-time uplink messages to obtain real-time downlink messages to be sent.

[0062] Through the above technical solution, the requirements of semi-physical simulation for the real-time performance of the dynamics model can be taken into account, and the real-time performance problem of the dynamics simulation can be solved while ensuring the model authenticity and extensibility of the simpack dynamics model. In addition, by converting simpack into C++ code and optimizing it, the model simulation program can run on a lower-level real-time operating system, reducing the simulation time.

[0063] According to an embodiment of the present invention, performing dynamic calculation according to the real-time downlink message includes:

[0064] The dynamic calculation is performed according to the fixed parameters in the fixed parameter table, the data in the external load difference calculation table and the real-time downlink message.

[0065] According to one embodiment of the present invention, the real-time dynamics calculation module uses a dynamics model calculation program to perform dynamics calculations. The dynamics model calculation program is obtained by performing multi-body dynamics modeling using simpack software. The dynamics model calculation program uses a state-space differential equation solving method.

[0066] According to an embodiment of the present invention, the wave recording module stores the data records in the interaction and calculation process in the log module.

[0067] According to an embodiment of the present invention, the first predetermined time interval is 100 microseconds, and the second predetermined time interval is 50 microseconds.

[0068] The following describes the dynamics real-time simulation and interaction method of the present invention in conjunction with an example. The example method includes:

[0069] Step 1: The dynamics real-time simulation platform and other simulation machines such as RTLAB can transmit and interact with real-time data through various protocols customized by the FPGA communication card hardware. Other simulation machines send a set of real-time downlink messages (downlink real-time data) to the FPGA communication card hardware of the real-time interaction module every 100 microseconds. The content of the real-time message is the input information from other simulation machines.

[0070] Step 2: The real-time interaction module receives the above message and transmits it to the dynamics real-time calculation module through the hardware driver to participate in the dynamics calculation.

[0071] Step 3: After multi-body dynamics modeling in simpack software, the dynamics model calculation program can be obtained. The model is imported into matlab code through simulink. The model-based programming function is used in matlab to automatically generate and export executable C++ code. At the same time, since it is necessary to calculate external loads from other simulators, a load interface can be added to the code to call the interpolation table for load access. The exported code can be quickly simulated on a real-time operating system after code optimization, greatly shortening the simulation time. Figure 2 shown.

[0072] Step 4: The dynamics real-time calculation module can be composed of three parts: a fixed parameter table, a dynamics simulation calculation program, and an external load interpolation calculation table. The dynamics simulation calculation program in the dynamics real-time calculation module is the core. The fixed parameter table, the external load interpolation calculation table, and the data from the real-time interaction module are used as inputs to the calculation program. The calculation program uses the differential equation solution method of the state space.

[0073] Figure 3 The figure shows the input and output of the dynamics simulation program. It should be noted that the fixed parameters, input data and interpolated output data are not synchronized in time, so the calculation can be started after all the data are available. Figure 4As shown in the figure, t0 is the starting point of the input source sending a cycle of data. t1 is the time when all input data are transmitted and enter the cache. From t1, the calculation program consults the dynamic external load interpolation calculation table according to the current state. When necessary, linear interpolation is performed according to the value in the table to obtain parameters such as air resistance. t1 to t2 is the time for the calculation program to consult the table and complete the interpolation calculation. From t2, the calculation program has prepared all the input parameters, so that the one-step recursive calculation of the state space can be started. The calculation is completed at t3. The result of the calculation includes the state parameters of the dynamic union. From t3, the calculation program starts the process of returning the calculation results, and at the same time starts to transfer the calculation results to the recording module. At t4, the transmission of all returned data is completed. At this point, the calculation program enters the waiting state until t10 in the figure, when the input data is transmitted to the dynamic simulation platform again. It is currently agreed that t4-t0≤50 microseconds.

[0074] Step 5: The calculation results are outputted to the real-time interaction module through the dynamics real-time calculation module. In the real-time interaction module, the calculation results are organized into real-time uplink messages and transmitted back to other simulation machines.

[0075] Step 6: After step 5, the recording module can record and store data of the entire experimental process (including input data, interpolation calculation data, and calculation result data), and regularly (50ms) transmit the data to the upper simulation process management platform through the upper communication module.

[0076] Step 7: After step 5, other simulation machines combine the uplink message and further perform real-time calculations. In the next 100 microsecond cycle, a new set of downlink messages is sent to the FPGA real-time communication card of the real-time interaction module, and this process repeats until the simulation ends.

[0077] It can be seen that the entire process, from the time other simulation machines send messages to the time the dynamics real-time calculation module completes the calculation and sends the uplink message back to the original simulation machine, is completed within 100 microseconds.

[0078] It can be seen from the above embodiments that the dynamics real-time simulation and interactive system and method described in the above embodiments of the present invention solve two problems of the prior art: the first is the simulation real-time problem of the simpack simulation model, and the second is the rapid communication and compatibility problem between the simpack model and other simulation models deployed on each machine in the semi-physical simulation system. For the first problem, the prior art uses the method of model simplification to obtain the real-time performance of the simulation. For the model of complex scenes and future expansibility, the prior art is difficult to obtain fast simulation performance because it is not running on a real-time operating system platform. In addition, due to the deep coupling with other professional model simulations, the expansibility will be greatly affected, and the performance requirements for the running equipment will be higher (running two simulation models at the same time). For the second problem, since the prior art does not achieve hardware-level communication protocol compatibility, although it solves the model communication problem deployed on this device, the communication of models deployed on other machines will still encounter communication rate and compatibility problems.

[0079] In the description of the present invention, it is necessary to understand that the directions or positional relationships indicated by directional words such as "front, back, up, down, left, right", "lateral, vertical, perpendicular, horizontal" and "top, bottom" are usually based on the directions or positional relationships shown in the drawings. They are only for the convenience of describing the present invention and simplifying the description. Unless otherwise specified, these directional words do not indicate or imply that the devices or elements referred to must have a specific direction or be constructed and operated in a specific direction. Therefore, they cannot be understood as limiting the scope of protection of the present invention. The directional words "inside and outside" refer to the inside and outside relative to the contours of each component itself.

[0080] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used here to describe the spatial positional relationship between a device or feature and other devices or features as shown in the figure. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figure. For example, if the device in the accompanying drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0081] In addition, it should be noted that the use of terms such as "first" and "second" to limit components is only for the convenience of distinguishing the corresponding components. If not otherwise stated, the above terms have no special meaning and therefore cannot be understood as limiting the scope of protection of the present invention.

[0082] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A dynamic real-time simulation and interactive system, characterized in that: The system includes a simulator, a dynamics real-time simulation platform, a real-time interaction module, an upper communication module, a wave recording module and an upper simulation process management platform. The dynamics real-time simulation platform includes a dynamics real-time calculation module. The dynamics real-time calculation module transmits and interacts with the simulator in real time through the real-time interaction module. The emulator is used to send a group of real-time downlink messages to the real-time interaction module at a first predetermined time interval; The real-time interaction module is used to receive the real-time downlink message and transmit the real-time downlink message to the dynamics real-time calculation module; The dynamics real-time calculation module is used to perform dynamics calculations according to the real-time downlink message and transmit the calculation results to the real-time interaction module. The calculation results include the state parameters of the dynamics union. The real-time interaction module is also used to convert the calculation results into real-time uplink messages and transmit the real-time uplink messages to the simulation machine; The wave recording module is used to record and store the data in the interaction and calculation process, and transmit the stored data to the upper simulation process management platform through the upper communication module at a second predetermined time interval; The simulator is also used to perform real-time calculations based on the real-time uplink messages to obtain real-time downlink messages to be sent.

2. The system according to claim 1, characterized in that Performing dynamic calculations based on real-time downlink messages includes: The dynamic calculation is performed according to the fixed parameters in the fixed parameter table, the data in the external load difference calculation table and the real-time downlink message.

3. The system according to claim 2, characterized in that The dynamics real-time calculation module uses a dynamics model calculation program to perform dynamics calculations. The dynamics model calculation program is obtained after multi-body dynamics modeling through simpack software. The dynamics model calculation program uses a state space differential equation solving method.

4. The system according to claim 3, characterized in that The recording module stores the data records during the interaction and calculation process in the log module.

5. The system according to claim 4, characterized in that The first predetermined time interval is 100 microseconds, and the second predetermined time interval is 50 microseconds.

6. A dynamic real-time simulation and interaction method, characterized in that: The method includes: The emulator sends a set of real-time downlink messages to the real-time interaction module at a first predetermined time interval; The real-time interaction module receives the real-time downlink message and transmits the real-time downlink message to the dynamics real-time calculation module of the dynamics real-time simulation platform; The dynamics real-time calculation module performs dynamics calculation according to the real-time downlink message and transmits the calculation results to the real-time interaction module. The calculation results include the state parameters of the dynamics union. The real-time interaction module converts the calculation results into real-time uplink messages and transmits the real-time uplink messages to the simulation machine; The wave recording module records and stores the data in the interaction and calculation process, and transmits the stored data to the upper simulation process management platform through the upper communication module at a second predetermined time interval; The simulator performs real-time calculations based on the real-time uplink messages to obtain real-time downlink messages to be sent.

7. The method according to claim 6, characterized in that Performing dynamic calculations based on real-time downlink messages includes: The dynamic calculation is performed according to the fixed parameters in the fixed parameter table, the data in the external load difference calculation table and the real-time downlink message.

8. The method according to claim 7, characterized in that The dynamics real-time calculation module uses a dynamics model calculation program to perform dynamics calculations. The dynamics model calculation program is obtained after multi-body dynamics modeling through simpack software. The dynamics model calculation program uses a state space differential equation solving method.

9. The method according to claim 8, characterized in that The recording module stores the data records during the interaction and calculation process in the log module.

10. The method according to claim 9, characterized in that The first predetermined time interval is 100 microseconds, and the second predetermined time interval is 50 microseconds.

Images