Multi-level simulation system, simulation method and related device

Abstract

The invention discloses a multi-level simulation system, a simulation method and a related device, and relates to the field of computers.The multi-level simulation system comprises a system-level simulation module, a single-equipment-level simulation module and a subsystem simulation module, the system-level simulation module and the single-equipment-level simulation module are both deployed in an upper computer, and the system-level simulation module is connected with the single-equipment-level simulation module; and data interaction between the two modules is realized through a corresponding software interface. And the single equipment level simulation module and the subsystem simulation module realize data interaction between subsystem hardware equipment in the subsystem simulation module and other subsystems in the single equipment level simulation module through a real-time simulation machine. Therefore, according to the system, simulation modules of three levels are connected in series to form a data communication chain, and multi-level comprehensive verification of functions and performance of complex equipment in the same simulation scene is achieved.

Description

Technical Field

[0001] The present application relates to the technical field of equipment simulation, and in particular to a multi-level simulation system, a simulation method and related devices. Background Art

[0002] Complex equipment used in aerospace, transportation and other fields has extremely high requirements for performance, reliability and safety. Therefore, the research and development and manufacturing of these complex equipment are of great importance.

[0003] These complex equipment can be modeled and simulated to simulate the behavior and performance of the complex equipment in actual operation. This can help engineers discover and solve potential problems in the design stage, reduce R&D and manufacturing costs, and improve the reliability and performance of equipment.

[0004] The simulation of complex equipment is usually divided into multiple levels of simulation, such as system level, single equipment level and subsystem level. The model granularity corresponding to simulations at different levels is different, and the simulation platforms used are also different. This leads to a lack of continuity between models at different levels, and it is impossible to achieve comprehensive simulation and verification of the functions and performance of different levels of equipment in the same simulation scenario. Summary of the invention

[0005] In view of the above problems, the present application provides a multi-level simulation system, simulation method and related devices to achieve the purpose of modeling and simulation of each level of complex equipment. The specific scheme is as follows:

[0006] The first aspect of the present application provides a multi-level simulation system, comprising: a system-level simulation module, a single-equipment-level simulation module and a subsystem-level simulation module, wherein the system-level simulation module and the single-equipment-level simulation module are connected via TCP communication, and the subsystem-level simulation module and the single-equipment-level simulation module are connected via a communication network cable;

[0007] The single equipment level simulation module is used to construct an overall system simulation model of the target equipment, and the single equipment level simulation module sends the first state information of the target equipment to the system level simulation module;

[0008] The system-level simulation module is used to construct a collaborative simulation model between the target equipment and the peripheral equipment, collaboratively control the target equipment and the peripheral equipment according to the first state information of the target equipment, and transmit the second state information of the other states affecting the target equipment to the single equipment simulation module;

[0009] The single equipment level simulation module adjusts the operating state of the overall system simulation model corresponding to the target equipment based on the second state information;

[0010] The subsystem simulation module is used to replace the target subsystem in the overall system simulation model corresponding to the target equipment with a target hardware device, and to verify the interaction between the target hardware device and other subsystems in the overall system.

[0011] In a possible implementation, the subsystem simulation module includes a real-time simulation machine and a target hardware device, and the real-time simulation machine and the target hardware device are connected via a communication bus;

[0012] The real-time simulation machine is used to import the real-time simulation models corresponding to the target equipment and other subsystems except the target subsystem, and solve the real-time simulation models corresponding to the other subsystems;

[0013] The target subsystem corresponds to the target hardware device. The real-time simulation machine sends the input data corresponding to the target subsystem to the target hardware device through the communication bus, and receives the operating status data output by the target hardware device through the communication bus, so as to realize the joint simulation of the target hardware device and the other subsystems.

[0014] In a possible implementation, the real-time simulation machine is used to import the real-time simulation models of other subsystems except the target subsystem corresponding to the target equipment, and solve the real-time simulation models corresponding to the other subsystems, including:

[0015] A real-time simulation engine is deployed in the real-time simulation machine, and real-time simulation models corresponding to other subsystems of the target equipment are constructed in the real-time simulation engine. The real-time simulation engine solves the real-time simulation models corresponding to the other subsystems according to the operating logic sequence between the subsystems, and the real-time simulation engine runs in real physical time.

[0016] In a possible implementation, the real-time simulation machine is used to import the real-time simulation models of other subsystems except the target subsystem corresponding to the target equipment, and solve the real-time simulation models corresponding to the other subsystems, including:

[0017] In the single-equipment simulation module, the target subsystem is set as the hardware under test, and the IP address of the simulation engine is set to the IP address of the real-time simulation machine. The single-equipment simulation module automatically sends the simulation models of the other subsystems to the real-time simulation machine for solution.

[0018] In one possible implementation, the single equipment simulation module is specifically used to: construct simulation models of each subsystem in the system of the target equipment based on a physical simulation method, and connect the subsystems according to their interaction relationships to form an overall system simulation model corresponding to the target equipment, so as to simulate the behavior and performance of the subsystems of the target equipment in actual operation.

[0019] In a possible implementation, the single equipment simulation module includes an interactive interface model, which is constructed based on the interactive relationship between parameters of each subsystem of the target equipment, so that data interaction is performed between the systems through the interactive interface model.

[0020] In a possible implementation, the single equipment simulation module further includes a fault injection submodule, an interactive control submodule and a display submodule;

[0021] The fault injection submodule is used to inject interference signals for simulating fault behavior at the input and output interfaces of each subsystem model;

[0022] The interactive control submodule is used to receive interactive operations input by the user through the input control, and convert the interactive operations into corresponding interactive instructions and transmit them to the preparation system simulation model of the target equipment;

[0023] The display submodule is used to display the overall system simulation model and simulation results of the target equipment.

[0024] In a possible implementation, the system-level simulation module is used to construct an overall system simulation model of the target equipment, and when the single-equipment-level simulation module sends the first state information of the target equipment to the system-level simulation module, it is specifically used to:

[0025] Acquire the collaborative task simulation scenario, equipment operating environment parameters and collaborative control algorithm input by the user, and establish an association with the overall system simulation model of the target equipment constructed by the single equipment-level simulation module, and establish an association with the coarse-grained simulation models of multiple peripheral equipment to simulate the collaborative task scenario of the target equipment.

[0026] A second aspect of the present application provides a multi-level simulation method, which is applied to the multi-level simulation system according to any one of the first aspects, and the method includes:

[0027] Constructing an overall system simulation model corresponding to the target equipment, a collaborative simulation model between the target equipment and peripheral equipment, and a hardware simulation device corresponding to a target subsystem in the target equipment;

[0028] Running the overall system simulation model of the target equipment to obtain first state information and sending the first state information to the collaborative simulation model;

[0029] Based on the first state information, the simulation of the collaborative simulation model is driven to obtain and affect the second state information of the target equipment, and the second state information is transmitted to the overall system simulation model, so that the overall system simulation model adjusts the operating state according to the second state information;

[0030] The input data of the target subsystem in the target equipment is transmitted to the target hardware device corresponding to the target subsystem, so that the hardware device adjusts the operating state according to the input data, and receives the operating state data output by the target hardware device and adjusts the operating state of other subsystems in the target equipment according to the operating state data.

[0031] A third aspect of the present application provides a computer storage medium, which carries one or more computer programs. When the one or more computer programs are executed by an electronic device, the electronic device can implement the multi-level simulation method described in the second aspect.

[0032] A fourth aspect of the present application provides a computer program product, comprising computer-readable instructions, which, when executed on an electronic device, enables the electronic device to implement the multi-level simulation method of the first aspect or the second aspect.

[0033] A fifth aspect of the present application provides an electronic device, comprising at least one processor and a memory connected to the processor, wherein:

[0034] The memory is used to store computer programs;

[0035] The processor is used to execute the computer program so that the electronic device can implement the multi-level simulation method of the second aspect.

[0036] By means of the above technical solution, the multi-level simulation system provided by this embodiment includes a system-level simulation module, a single-equipment-level simulation module and a subsystem simulation module, wherein the system-level simulation module and the single-equipment-level simulation module are both deployed in the host computer, and data interaction between the two modules is realized through the corresponding software interface. The single-equipment-level simulation module and the subsystem simulation module realize data interaction between the subsystem hardware devices in the subsystem simulation module and other subsystems in the single-equipment simulation module through a real-time simulation machine. It can be seen that the system connects the three levels of simulation modules in series to form a data communication chain, realizing comprehensive verification of the functions and performance of complex equipment at multiple levels in the same simulation scenario. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] The above and other features, advantages and aspects of the embodiments of the present disclosure will become more apparent with reference to the following detailed description in conjunction with the accompanying drawings. Throughout the accompanying drawings, the same or similar reference numerals represent the same or similar elements. It should be understood that the drawings are schematic and the originals and elements are not necessarily drawn to scale.

[0038] Figure 1 A schematic diagram of the software deployment and hardware structure of a multi-level simulation system provided in this application;

[0039] Figure 2 A schematic diagram of the structure of a multi-level simulation system provided by this application;

[0040] Figure 3 A schematic diagram of the communication between the single-device-level simulation module and the system-level simulation module provided in this application;

[0041] Figure 4 A schematic diagram of the structure of each functional module in a multi-level simulation system provided by the present application;

[0042] Figure 5 A schematic diagram of a multi-level simulation method provided in this application;

[0043] Figure 6 A schematic diagram of the structure of an electronic device (such as a host computer) provided in this application. DETAILED DESCRIPTION

[0044] The following describes the embodiments of the present application in conjunction with the drawings in the embodiments of the present application. The terms used in the implementation method section of the present application are only used to explain the specific embodiments of the present application, and are not intended to limit the present application.

[0045] The embodiments of the present application are described below in conjunction with the accompanying drawings. Those skilled in the art will appreciate that, with the development of technology and the emergence of new scenarios, the technical solutions provided in the embodiments of the present application are also applicable to similar technical problems.

[0046] The terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and need not be used to describe a specific order or sequential order. It should be understood that the terms used in this way can be interchangeable under appropriate circumstances, which is only to describe the distinction mode adopted by the objects of the same attributes when describing in the embodiments of the present application. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, so that the process, method, system, product or equipment comprising a series of units need not be limited to those units, but may include other units that are not clearly listed or inherent to these processes, methods, products or equipment.

[0047] See also Figure 1 , shows a schematic diagram of software deployment and hardware structure of a multi-level simulation system provided by an embodiment of the present application. Figure 1 As shown, the system may include a system-level simulation module 200 and a single-device-level simulation module 300 deployed on a host computer 100, and a subsystem-level simulation module 400 that can communicate with the host computer.

[0048] The subsystem-level simulation module 400 includes a real-time simulation machine 500 and a subsystem hardware device 600 .

[0049] The real-time simulation machine 500 communicates with the subsystem hardware device 600 via a communication board. In addition, the real-time simulation machine 500 can be regarded as a lower computer, and the upper computer can be a computer terminal. The upper computer and the lower computer are connected via a network cable to achieve communication between the two.

[0050] The system-level simulation module 200 is used to implement system-level simulation, specifically, to implement the simulation construction of collaborative mission scenarios of equipment. System-level simulation mainly focuses on the behavior and performance of complex equipment in collaborative mission scenarios, mainly the interaction and collaboration between multiple equipment systems, and their impact on the overall mission.

[0051] The simulation goal of the system-level simulation module 200 is to evaluate the overall performance and stability of a complex equipment (i.e., target equipment) in a collaborative task scenario, as well as the interaction and impact between the overall system simulation model corresponding to the equipment and the overall system simulation model of the peripheral equipment level.

[0052] For example, the main fighter in a fighter formation is the target equipment, which corresponds to a fine-grained overall system simulation model at the single-equipment level, while the slave fighters in the formation are peripheral equipment, which corresponds to a coarse-grained overall system simulation model.

[0053] The simulation content of the system-level simulation module 200 includes: collaborative decision-making among multiple equipment, communication between equipment, information sharing, etc., as well as their impact on task completion time, resource utilization, risk response, etc.

[0054] The simulation method of the system-level simulation module 200 includes: customizing and editing the collaborative task simulation scenario through the UI interactive interface, importing the user-defined collaborative control algorithm, associating the single-equipment-level fine simulation model of the equipment, and establishing a coarse-grained simulation model of multiple peripheral equipment systems to simulate their behavior and performance in actual collaborative tasks. At the same time, various uncertainties and interference factors need to be considered to evaluate the robustness and adaptability of the equipment system and the reliability of the collaborative control algorithm.

[0055] The single equipment-level simulation module 300 is used to implement single equipment-level simulation. Specifically, it focuses on the performance and functions of a single equipment system. It is mainly used to establish models of various components and subsystems of the equipment system, and integrate the subsystem models according to the interactions and relationships between them to complete the system simulation of the entire target equipment.

[0056] The simulation goal of the single equipment level simulation module 300 is to evaluate whether the performance and function of a single equipment system meet the design requirements, as well as their reliability and stability in actual use.

[0057] The simulation content of the single equipment level simulation module 300 includes: the structure, working principle, motion law, etc. of the equipment system, and their impact on the system performance and function. At the same time, various failure modes and abnormal conditions need to be considered to evaluate the fault tolerance and safety of the equipment system.

[0058] The simulation method of the single equipment level simulation module 300 includes: using a physics-based simulation method to establish physical models and interaction relationships of each subsystem of the equipment system, simulating their behavior and performance in actual operation. By changing various parameters and conditions, the performance and function of the system under different working conditions can be evaluated.

[0059] The subsystem level simulation module 400 is used to implement subsystem level simulation of the target equipment. Specifically, it mainly focuses on the performance and function of the target subsystem in the equipment system. The target subsystem can be any one of all the subsystems included in the target equipment.

[0060] Subsystem simulation is to replace a subsystem in a virtual simulation model of an equipment with a corresponding hardware device 600, and jointly simulate the hardware device 600 and the entire equipment system, as well as the interface and interaction between them.

[0061] The simulation goal of the subsystem level simulation module 400 is to evaluate whether the performance and functions of the hardware devices corresponding to the subsystem meet the design requirements, as well as their reliability and stability in actual use. At the same time, it is also necessary to verify whether the interface and interaction between the hardware devices corresponding to the target subsystem and other subsystems of the equipment are correct.

[0062] The simulation content of the subsystem-level simulation module 400 includes: the working principle, input and output characteristics, deployment and joint debugging, etc. of the hardware equipment corresponding to the target subsystem, and their impact on the overall system performance and functions of the equipment.

[0063] The simulation method of the subsystem-level simulation module 400 includes: using a semi-physical simulation method to combine the hardware devices corresponding to the target subsystem with a virtual simulation environment to simulate their behavior and performance in actual use. By changing various parameters and conditions, the performance and function of the hardware devices corresponding to the subsystem under different working conditions can be evaluated. At the same time, the virtual simulation environment can also be used to test and verify the hardware devices corresponding to the target subsystem to ensure that the interface, interaction and operation between them and other subsystems in the equipment are correct.

[0064] The model granularity of the above-mentioned system-level simulation, single-equipment-level simulation, and subsystem-level simulation is gradually refined, and the demand for data interaction between platforms is gradually increasing. The platform is required to have a good data interaction transmission interface between single-equipment-level simulation and semi-physical simulation, and the platform has real-time simulation characteristics. Therefore, the GCAir system simulation test and verification integrated platform can be selected as the main body of the tool chain. At the same time, the data interaction interface between the collaborative simulation module, the single-equipment simulation module, and the semi-physical simulation module is opened up, so as to achieve compatibility of models of different granularity in one simulation platform, and verify the functions and performance of the equipment at different levels.

[0065] See also Figure 2 , shows a schematic diagram of the structure of a multi-level simulation system provided by an embodiment of the present application. Figure 2 As shown, the system includes a system-level simulation module 101, a single-device-level simulation module 102 and a subsystem simulation module 103.

[0066] Among them, the system-level simulation module 101 and the single-device-level simulation module 102 are deployed in Figure 1 In the host computer shown in FIG. 103, the subsystem simulation module 103 includes: Figure 1 The real-time simulator and the hardware devices corresponding to the subsystem shown are any subsystems in the equipment. For example, the overall system model of the fighter includes the flight control subsystem, dynamics subsystem, kinematics subsystem, energy subsystem, etc. For any subsystem in the overall system model of the fighter, the hardware device corresponding to the subsystem is used to replace it, so as to realize the joint simulation between the hardware device of the subsystem and the overall system model of the fighter.

[0067] The system-level simulation module 101 is used to carry out multi-equipment system mission scenarios, focusing on verifying the collaborative control logic between equipment.

[0068] In some embodiments, the system-level simulation module 101 includes complex equipment 3D models, collaborative control algorithms, equipment operating environment models and other elements, which are used to build collaborative task scenarios. Collaborative task scenarios need to achieve information interaction between equipment, simulation environment display, collaborative control, etc.

[0069] In some embodiments, the system-level simulation module 101 is implemented based on a three-dimensional dynamic simulation platform, for example, a three-dimensional dynamic simulation platform developed based on Uinty3D, which has an interface for communicating with a single-equipment-level simulation platform, that is, the interaction between the system-level simulation module 101 and the single-equipment-level simulation module 102 is achieved through the interface.

[0070] The single equipment-level simulation module 102 includes subsystem models in the target equipment and an equipment system simulation project constructed based on the subsystem models in the target equipment.

[0071] In some embodiments, in the single equipment-level simulation module 102, the GCAir system simulation test verification integrated platform can be used. As an intermediate layer, the platform is connected to the three-dimensional dynamic simulation platform in the system-level simulation module, and drives the full system simulation model of the equipment in the GCAir platform according to the operation plan of the collaborative task scenario, and conducts detailed granular full system simulation. Downward, through the real-time simulation machine hardware interface, the equipment model and the subsystem simulation module 103 containing the hardware device can exchange data.

[0072] In the GCAir system simulation test and verification integrated platform, each subsystem simulation model can be imported using the FMU (Functional Mock-up Unit) Slave file. The subsystem simulation models can interact with each other through the Interface Control Document (ICD) interface to form the simulation project of the entire equipment.

[0073] Among them, FMU is a model standard widely used in multi-domain simulation. It is created by model developers and exists in the form of executable files. It can be called and used in a variety of different simulation and analysis tools. In joint simulation, there is usually a main program (Master) and one or more slave programs (Slave). The Slave program is responsible for generating interface files and providing model data to the Master program, while the Master program is responsible for calling these data and performing simulation calculations. FMUSlave refers to a mode in which the Slave program provides model data to the Master program using the FMI (Functional Mock-up Interface) standard as an interface in joint simulation.

[0074] Moreover, GCAir software has the ability to export FMU Slave files, which can be imported by other simulation software (such as the 3D dynamic simulation platform corresponding to the system-level simulation module) and realize the joint simulation between the single-equipment-level GCAir system simulation test verification integrated platform and the system-level 3D dynamic simulation platform through TCP communication.

[0075] The 3D dynamic simulation platform has an interface for communicating with the GCAir system simulation test and verification integrated platform at the single equipment level. The GCAir system simulation test and verification integrated platform transmits the simulation results of the single equipment level to the system level 3D dynamic simulation platform through the interface, thereby realizing the 3D display model in the system level simulation module driven by the single equipment model data.

[0076] Combine the following Figure 3 The process of interaction between the system-level simulation module 101 and the single-device-level simulation module 102 is described below:

[0077] The system-level simulation module 101 includes a first TCP communication module, and the single-device-level simulation module 102 includes a second TCP communication module.

[0078] The system-level simulation module 101 uses the output data of the equipment system model corresponding to the target equipment when performing collaborative task simulation. In this scenario, the second TCP communication module in the single equipment-level simulation module 102 receives the data output by other models / modules in the single equipment-level simulation module 102. For example, the second TCP communication module receives the output data of other models in the single equipment-level simulation module 102 through the Var_3 and Var_4 pins, and transmits it to the Var_3 and Var_4 pins of the first TCP communication module in the system-level simulation module 101 through the second TCP communication module and the TCP communication protocol. The received data is further transmitted to other models in the system-level simulation module 101 through the Var_3 and Var_4 pins of the first TCP communication module for collaborative simulation.

[0079] The system-level simulation module 101 can transmit the data related to the target equipment in the collaborative task scenario to the overall system simulation model of the target equipment through the first TCP communication module. Specifically, the Var_1 and Var_2 pins of the first TCP communication module in the system-level simulation module 101 receive the collaborative simulation data obtained by other submodules in the system-level simulation module 101, and send it to the Var_1 and Var_2 pins of the second TCP communication module of the single-equipment-level simulation module 102 through the first TCP communication module and the TCP communication protocol. The single-equipment-level simulation module 102 transmits the received data transmitted by the system-level simulation module 101 to the corresponding model or module in the single-equipment-level simulation module 102.

[0080] For example, the single equipment-level simulation module 102 sends the behavior data of the aircraft, such as the current latitude and longitude, altitude and attitude information of the aircraft, to the system-level simulation module 101 through the second TCP communication module. The system-level simulation module 101 performs a three-dimensional display based on the behavior data of the aircraft, and simultaneously performs corresponding collaborative control on other equipment models in the collaborative mission scenario. The system-level simulation module 101 sends a message to the single equipment-level simulation module 102 through the first TCP communication module to determine whether the aircraft is locked by other radars. The other radars here refer to other equipment in the three-dimensional dynamic simulation platform, or peripheral models. The single equipment-level simulation module 102 can perform corresponding processing based on the data sent by the system-level simulation module 101.

[0081] like Figure 2 As shown, in the subsystem simulation module 103, the real-time simulation machine is connected to the subsystem hardware device through a communication board to achieve real-time simulation and data interaction.

[0082] The target subsystem in the target equipment is replaced with the corresponding hardware device, and the hardware device and the real-time simulator exchange data through the communication board. At the same time, the real-time simulator also exchanges data with the single-equipment-level simulation module through the network cable.

[0083] Hardware devices run in real physical time. Therefore, the premise for realizing semi-physical subsystem simulation is real-time, so a real-time simulator is required.

[0084] The real-time simulation machine is equipped with the real-time simulation engine of the GCAir software, which runs simulation models of other subsystems of the target equipment. Other subsystems here refer to subsystems of the entire system of the target equipment except the subsystem replaced by the hardware device (i.e., the target subsystem), that is, subsystems other than the target subsystem.

[0085] Taking the target hardware device as an example, the real-time simulation engine in the real-time simulation machine will calculate the input data of the motor (such as current, voltage, etc.) and transmit the input data to the motor through the communication board. The motor controls the output (such as speed) according to the input data and transmits the output data to the simulation engine of the real-time simulation machine through the communication board.

[0086] GCAir software is deployed in the host computer, which runs the Windows system. The Windows system cannot obtain the real physical time and it is difficult to accurately control the time during the calculation process. The real-time simulator (i.e. the lower computer) is deployed with the Linux system, which can obtain the real physical time. The simulation model in the real-time simulator can obtain real-time calculation results, so it is called a real-time simulator.

[0087] The user builds a system simulation model of a single device in the GCAir software on the host computer and performs running calculations. This is a non-real-time simulation, or virtual simulation. When performing real-time simulation, the user can use a network cable (TCP / IP) to connect the host computer to the slave computer, and deploy the real-time simulation engine provided by the GCAir software in the slave computer (GCAir comes with two sets of simulation engines, one for Windows system and one for Linux system, and the one for Linux system is also called the real-time simulation engine). After the user builds the single-equipment system simulation project in the GCAir software on the host computer, click "Change Engine" to switch the default simulation engine adapted to the Windows system to the real-time simulation engine in the real-time simulation machine.

[0088] In the GCAir software of the host computer, the subsystem corresponding to the hardware device connected to the real-time simulator (i.e., the target subsystem) can be set as the hardware under test, and the IP address of the simulation engine can be set to the IP address of the real-time simulator. When the GCAir software of the host computer receives the user's operation of clicking the "Start Simulation" control, the GCAir software automatically sends the single equipment model to the real-time simulator for solving using the real-time simulation engine. When calculating the subsystem set as the hardware under test, the input data of the subsystem is sent to the hardware device of the subsystem through the communication board, and the output data of the corresponding subsystem is obtained from the hardware device. The output data is used to participate in the calculation of other subsystems of the entire equipment, thus completing the switching from the subsystem virtual model simulation to the real output signal of the actual equipment, that is, realizing the conversion from full virtual simulation to semi-physical simulation.

[0089] The following is an example of a fighter jet being simulated:

[0090] In this scenario, system-level simulation can be a fighter formation combat mission simulation, or a red-blue confrontation simulation, etc. Taking a fighter formation combat mission as an example, one fighter in the formation (the host in the formation) is configured as equipment for fine-grained model simulation, that is, a single equipment-level simulation is performed on the fighter host. At the same time, other fighters in the formation (slave machines in the formation) are set as coarse-grained models in the three-dimensional dynamic simulation platform. Coarse-grained models of various equipment can be imported into the system-level simulation platform in the form of FMU.

[0091] Single equipment level simulation is used to simulate the various components and subsystems in a fighter, and to integrate the subsystems according to their interactions and relationships to form a simulation model of the overall system of the fighter. For example, the flight control subsystem, dynamics subsystem, kinematics subsystem, energy subsystem, etc., connect the input and output of each subsystem according to the interaction between the subsystems to form a simulation model of the entire system of the fighter.

[0092] The overall system simulation model of the single equipment level is built in the GCRir software, and the data interaction between the GCRir software and the three-dimensional dynamic simulation software is completed by generating FMU Slave files, so that the single equipment level simulation and system level simulation can be realized in the same scenario.

[0093] Subsystem-level simulation can replace the target subsystem (such as the flight control subsystem) in the fighter simulation model established by the single-equipment-level simulation module with a hardware device (such as a flight control computer), and perform data exchange and calculations with other subsystems in the overall system simulation model of the fighter (the single-equipment-level simulation model) through the flight control computer. Among them, the single-equipment-level simulation model is built in the GCRir software, and the communication interaction between the GCRir software and the real-time simulator is completed through the network cable. The flight control computer and the real-time simulator communicate through a communication board.

[0094] The multi-level simulation system provided in this embodiment includes a system-level simulation module, a single-equipment-level simulation module and a subsystem simulation module, wherein the system-level simulation module and the single-equipment-level simulation module are deployed in the host computer, and data interaction between the two modules is realized through the corresponding software interface. The single-equipment-level simulation module and the subsystem simulation module realize data interaction between the subsystem hardware devices in the subsystem simulation module and other subsystems in the single-equipment simulation module through a real-time simulation machine. It can be seen that the system connects the three levels of simulation modules in series to form a data communication chain, realizing comprehensive verification of the functions and performance of complex equipment at multiple levels in the same simulation scenario.

[0095] See also Figure 4 , shows a schematic diagram of the structure of another multi-level simulation system provided in an embodiment of the present application. This embodiment focuses on introducing the specific functions of each module in the multi-level simulation system.

[0096] like Figure 4 As shown, the system-level three-dimensional dynamic simulation platform 201 has functional modules such as scene editing, data storage / display, UI interaction, equipment three-dimensional display, collaborative display, and communication interface.

[0097] In the embodiment of the present application, the system-level simulation module is mainly implemented using a three-dimensional dynamic simulation platform developed based on Uinty3D. The platform has an interface for communicating with GCAir software, can coordinate the control and three-dimensional display of the equipment status during the simulation process, and supports UI interaction. Users can not only customize the simulation scene of the equipment, but also save the data of the simulation results and display them as images.

[0098] Specifically, the system-level simulation module has the following functions:

[0099] 1) Equipment simulation model loading

[0100] This system-level simulation module supports loading existing equipment simulation models in the equipment library, such as fighter jets, airships, ground stations, ships, etc. It also supports users to import three-dimensional models and corresponding behavior models of other equipment to enrich the equipment library and simulation scenarios.

[0101] 2) FMU file loading

[0102] The system simulation module has an interface for communicating with the GCAir software and supports loading FMU Slave files, thus realizing data communication between the system-level simulation module and the GCAir simulation platform and achieving joint simulation and debugging between the two software.

[0103] 3) Introduction of collaborative control algorithm

[0104] The system simulation module supports the import of collaborative control algorithms to achieve motion control of multiple devices in the three-dimensional dynamic simulation platform and realize collaborative task simulation of multiple devices.

[0105] 4) Simulation data display function

[0106] The system simulation module supports the real-time display of each equipment state and parameter value during the simulation process. Users can customize the drawing of 2D curves through the UI interactive interface to achieve visual display of simulation results.

[0107] The single-equipment-level GCAir system simulation test verification integrated platform 202 has functional modules such as FMU integration, ICD interaction, fault injection, control configuration, timing control, virtual-reality simulation, model library management, simulation result comparison, and secondary development API.

[0108] Through the GCAir system simulation test, it is verified that the integrated platform 202 can build a full system integrated simulation model of the equipment and complete the virtual simulation of the equipment based on typical mission scenarios. The main functions of the platform are as follows:

[0109] 1) FMU Integration

[0110] FMU is an executable file created by the model developer and follows the FMI (Functional Mock-up Interface) standard. FMI is an open source standard that defines a container and an interface for exchanging dynamic simulation models using a combination of XML files, binary files, and C code, and distributed in the form of a ZIP file. FMU files are used to describe simulation models that follow the FMI standard and can be used in different simulation and analysis tools.

[0111] Here, the functional modules such as various subsystems of the equipment are imported through the FMU file import method to realize the simulation interaction between the modules.

[0112] 2)ICD Interaction

[0113] Through the UI interactive interface, users can build the communication architecture between subsystems within the equipment according to the specific communication conditions within the equipment. The subsystems realize data interaction through the ICD interface and the connecting lines between the ICD interfaces, so that the equipment system simulation architecture is consistent with the hardware device communication architecture, realizing the subsequent subsystem semi-physical simulation.

[0114] 3) Fault injection

[0115] Apply interference signals such as gain, noise, offset, etc. to the model input / output interface, simulate fault behavior during equipment system simulation, and provide a fault simulation mechanism.

[0116] 4) Control configuration

[0117] The GCAir system simulation test verification integrated platform 202 can provide components such as interaction and display. Users can view simulation results in the form of curves and tables. Users can interactively intervene in the simulation process by dialing buttons and turning knobs. Moreover, controls can be freely combined and support customized UI interface settings.

[0118] 5) Timing control

[0119] The GCAir system simulation test verification integrated platform 202 provides model execution order grouping and enabling functions, supporting users to schedule and trigger models according to the actual working logic of the equipment.

[0120] 6) Virtual-Real Simulation Module

[0121] The GCAir system simulation test verification integrated platform 202 can map the ICD bus interface with the board interface of the semi-physical simulation platform, and realize the interaction with the hardware device under the semi-physical simulation condition to achieve the effect of virtual-reality simulation.

[0122] The subsystem-level semi-physical simulation platform 203 may include hardware such as a real-time simulation machine, hardware under test, network cables, and communication boards.

[0123] The real-time simulator exchanges data with the GCAir system simulation test verification integrated platform 202 via a network cable. At the same time, the real-time simulator exchanges data with the hardware under test via a communication board. The real-time simulator can be equipped with a corresponding type of communication board according to the interface type of the hardware under test, thereby completing a data closed loop between the hardware under test-communication board-real-time simulator.

[0124] The real-time simulation machine is equipped with the GCAir system's real-time simulation engine and communication card driver, which enables it to have real-time simulation and semi-physical extended simulation capabilities. ;

[0125] The present application also provides a multi-level simulation method embodiment, which is applied to the above-mentioned multi-level simulation system. Figure 5 As shown, the method may include the following steps:

[0126] S101, constructing an overall system simulation model corresponding to the target equipment, a collaborative simulation model between the target equipment and peripheral equipment, and a hardware simulation device corresponding to a target subsystem in the target equipment.

[0127] S102: Run the overall system simulation model of the target equipment to obtain first state information and send it to the collaborative simulation model.

[0128] S103, driving the simulation of the collaborative simulation model based on the first state information, obtaining second state information affecting the target equipment, and transmitting the second state information to the overall system simulation model, so that the overall system simulation model adjusts the operating state according to the second state information.

[0129] S104, transmitting the input data of the target subsystem in the target equipment to the target hardware device corresponding to the target subsystem, so that the hardware device adjusts the operating status according to the input data, and receives the operating status data output by the target hardware device and adjusts the operating status of other subsystems in the target equipment according to the operating status data.

[0130] The multi-level simulation method provided in this embodiment constructs a collaborative simulation model between multiple equipments through a system-level simulation module, constructs a simulation model of the overall system of a single equipment through a single-equipment-level simulation module, and constructs a hardware simulation of a subsystem in a single equipment through a subsystem-level simulation module. Both the system-level simulation module and the single-equipment-level simulation module are deployed in the host computer, and data interaction between the two modules is realized through the corresponding software interface. The single-equipment-level simulation module and the subsystem simulation module realize data interaction between the subsystem hardware devices in the subsystem simulation module and other subsystems in the single-equipment simulation module through a real-time simulation machine. It can be seen that the system connects the three levels of simulation modules in series to form a data communication chain, realizing comprehensive verification of the functions and performance of complex equipment at multiple levels in the same simulation scenario.

[0131] The present application also provides an electronic device in an embodiment. Figure 6 As shown, it shows a schematic diagram of the structure of an electronic device suitable for implementing the embodiment of the present application. The electronic device in the embodiment of the present application may include but is not limited to fixed terminals such as laptop computers, PDAs (personal digital assistants), PADs (tablet computers), desktop computers, etc. Figure 6 The electronic device shown is merely an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0132] like Figure 6 As shown, the electronic device may include a processing device (e.g., a central processing unit, a graphics processing unit, etc.) 601, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 602 or a program loaded from a storage device 608 into a random access memory (RAM) 603. When the electronic device is powered on, various programs and data required for the operation of the electronic device are also stored in the RAM 603. The processing device 601, the ROM 602, and the RAM 603 are connected to each other via a bus 604. An input / output (I / O) interface 605 is also connected to the bus 604.

[0133] Typically, the following devices may be connected to the I / O interface 605: an input device 606 including, for example, a touch screen, a touch pad, a keyboard, a mouse, a camera, a microphone, an accelerometer, a gyroscope, etc.; an output device 607 including, for example, a liquid crystal display (LCD), a speaker, a vibrator, etc.; a storage device 608 including, for example, a memory card, a hard disk, etc.; and a communication device 609. The communication device 609 may allow the electronic device to communicate with other devices wirelessly or by wire to exchange data. Although Figure 6 An electronic device having various devices is shown, but it should be understood that it is not required to implement or possess all the devices shown. More or fewer devices may be implemented or possessed instead.

[0134] An embodiment of the present application also provides a computer program product including computer-readable instructions. When the computer-readable instructions are executed on an electronic device, a multi-level simulation system including the electronic device implements any multi-level simulation method provided in the embodiment of the present application.

[0135] A computer-readable storage medium is also provided in an embodiment of the present application. The storage medium carries one or more computer programs. When one or more computer programs are executed by an electronic device, a multi-level simulation system including the electronic device can implement any multi-level simulation method provided in an embodiment of the present application.

[0136] It should also be noted that the device embodiments described above are merely schematic, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed over multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. In addition, in the drawings of the device embodiments provided by the present application, the connection relationship between the modules indicates that there is a communication connection between them, which may be specifically implemented as one or more communication buses or signal lines.

[0137] Through the description of the above implementation mode, the technicians in the field can clearly understand that the present application can be implemented by means of software plus necessary general hardware, and of course, it can also be implemented by special hardware including special integrated circuits, special CPUs, special memories, special components, etc. In general, all functions completed by computer programs can be easily implemented by corresponding hardware, and the specific hardware structure used to implement the same function can also be various, such as analog circuits, digital circuits or special circuits. However, for the present application, software program implementation is a better implementation mode in more cases. Based on such an understanding, the technical solution of the present application is essentially or the part that contributes to the prior art can be embodied in the form of a software product, which is stored in a readable storage medium, such as a computer floppy disk, a U disk, a mobile hard disk, a ROM, a RAM, a disk or an optical disk, etc., including a number of instructions to enable a computer device (which can be a personal computer, a training device, or a network device, etc.) to execute the methods described in each embodiment of the present application.

[0138] In the above embodiments, all or part of the embodiments may be implemented by software, hardware, firmware or any combination thereof. When implemented by software, all or part of the embodiments may be implemented in the form of a computer program product.

[0139] The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in the embodiment of the present application is generated in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions may be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions may be transmitted from a website site, a computer, a training device, or a data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) mode to another website site, computer, training device, or data center. The computer-readable storage medium may be any available medium that a computer can store or a data storage device such as a training device, a data center, etc. that includes one or more available media integrations. The available medium may be a magnetic medium, (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a solid-state drive (SSD)), etc.

Claims

1. A multi-level simulation system, characterized in that: include: A system-level simulation module, a single-device-level simulation module and a subsystem-level simulation module, wherein the system-level simulation module and the single-device-level simulation module are connected to each other through TCP, and the subsystem-level simulation module and the single-device-level simulation module are connected to each other through a communication network cable; The single equipment level simulation module is used to construct an overall system simulation model of the target equipment, and the single equipment level simulation module sends the first state information of the target equipment to the system level simulation module; The system-level simulation module is used to construct a collaborative simulation model between the target equipment and the peripheral equipment, collaboratively control the target equipment and the peripheral equipment according to the first state information of the target equipment, and transmit the second state information of the other states affecting the target equipment to the single equipment simulation module; The single equipment level simulation module adjusts the operating state of the overall system simulation model corresponding to the target equipment based on the second state information; The subsystem simulation module is used to replace the target subsystem in the overall system simulation model corresponding to the target equipment with a target hardware device, and to verify the interaction between the target hardware device and other subsystems in the overall system.

2. The system according to claim 1, characterized in that The subsystem simulation module includes a real-time simulation machine and a target hardware device, and the real-time simulation machine and the target hardware device are connected via a communication bus; The real-time simulation machine is used to import the real-time simulation models corresponding to the target equipment and other subsystems except the target subsystem, and solve the real-time simulation models corresponding to the other subsystems; The target subsystem corresponds to the target hardware device. The real-time simulation machine sends the input data corresponding to the target subsystem to the target hardware device through the communication bus, and receives the operating status data output by the target hardware device through the communication bus, so as to realize the joint simulation of the target hardware device and the other subsystems.

3. The system according to claim 2, characterized in that The real-time simulation machine is used to import the real-time simulation models of other subsystems except the target subsystem corresponding to the target equipment, and solve the real-time simulation models corresponding to the other subsystems, including: A real-time simulation engine is deployed in the real-time simulation machine, and real-time simulation models corresponding to other subsystems of the target equipment are constructed in the real-time simulation engine. The real-time simulation engine solves the real-time simulation models corresponding to the other subsystems according to the operating logic sequence between the subsystems, and the real-time simulation engine runs in real physical time.

4. The system according to claim 2 or 3, characterized in that: The real-time simulation machine is used to import the real-time simulation models of other subsystems except the target subsystem corresponding to the target equipment, and solve the real-time simulation models corresponding to the other subsystems, including: In the single-equipment simulation module, the target subsystem is set as the hardware under test, and the IP address of the simulation engine is set to the IP address of the real-time simulation machine. The single-equipment simulation module automatically sends the simulation models of the other subsystems to the real-time simulation machine for solution.

5. The system according to any one of claims 1 to 3, characterized in that: The single equipment simulation module is specifically used to: construct simulation models of each subsystem in the system of the target equipment based on the physical simulation method, and connect the subsystems according to the interaction relationship to form an overall system simulation model corresponding to the target equipment, so as to simulate the behavior and performance of the subsystems of the target equipment in actual operation.

6. The system according to claim 5, characterized in that The single equipment simulation module includes an interactive interface model, which is constructed based on the interactive relationship between parameters of each subsystem of the target equipment, so that data interaction is performed between the systems through the interactive interface model.

7. The system according to claim 5, characterized in that The single equipment simulation module also includes a fault injection submodule, an interactive control submodule and a display submodule; The fault injection submodule is used to inject interference signals for simulating fault behavior at the input and output interfaces of each subsystem model; The interactive control submodule is used to receive interactive operations input by the user through the input control, and convert the interactive operations into corresponding interactive instructions and transmit them to the preparation system simulation model of the target equipment; The display submodule is used to display the overall system simulation model and simulation results of the target equipment.

8. The system according to claim 1, characterized in that The system-level simulation module is used to construct an overall system simulation model of the target equipment. When the single-equipment-level simulation module sends the first state information of the target equipment to the system-level simulation module, it is specifically used to: Acquire the collaborative task simulation scenario, equipment operating environment parameters and collaborative control algorithm input by the user, and establish an association with the overall system simulation model of the target equipment constructed by the single equipment-level simulation module, and establish an association with the coarse-grained simulation models of multiple peripheral equipment to simulate the collaborative task scenario of the target equipment.

9. A multi-level simulation method, characterized in that: Applied to the multi-level simulation system according to any one of claims 1 to 8, the method comprising: Constructing an overall system simulation model corresponding to the target equipment, a collaborative simulation model between the target equipment and peripheral equipment, and a hardware simulation device corresponding to a target subsystem in the target equipment; Running the overall system simulation model of the target equipment to obtain first state information and sending the first state information to the collaborative simulation model; Based on the first state information, the simulation of the collaborative simulation model is driven to obtain and affect the second state information of the target equipment, and the second state information is transmitted to the overall system simulation model, so that the overall system simulation model adjusts the operating state according to the second state information; The input data of the target subsystem in the target equipment is transmitted to the target hardware device corresponding to the target subsystem, so that the hardware device adjusts the operating state according to the input data, and receives the operating state data output by the target hardware device and adjusts the operating state of other subsystems in the target equipment according to the operating state data.

10. A computer storage medium, characterized in that: The storage medium carries one or more computer programs, and when the one or more computer programs are executed by an electronic device, the electronic device can implement the multi-level simulation method as claimed in claim 9.

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