A multi-level simulation system, simulation method and related devices

Abstract

The application discloses a multi-level simulation system, a simulation method and related devices, and relates to the field of computers, and comprises 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 arranged in an upper computer, and data interaction between the two modules is realized through corresponding software interfaces. The single-equipment-level simulation module and the subsystem simulation module realize data interaction between a subsystem hardware device 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, and realizes comprehensive verification of complex equipment functions and performance in multiple levels in the same simulation scene.

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

[0002] Complex equipment applied in fields such as aerospace and transportation has extremely high requirements for performance, reliability and safety, and therefore, the research and manufacturing of these complex equipment has a very important position.

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

[0004] The simulation of complex equipment is usually divided into system level, single equipment level and subsystem level simulation, and the simulation of different levels corresponds to different model granularities and different simulation platforms, which leads to a lack of continuity between models of different levels, and the overall simulation and verification of the functions and performance of equipment at different levels in the same simulation scene cannot be achieved. SUMMARY

[0005] In view of the above problems, the present application provides a multi-level simulation system, a 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 through TCP communication, and the subsystem level simulation module and the single equipment level simulation module are connected through a communication network cable.

[0007] The single equipment level simulation module is configured to construct a whole system simulation model of a target equipment, and the single equipment level simulation module sends first state information of the target equipment to the system level simulation module.

[0008] The system level simulation module is configured to construct a cooperative simulation model between the target equipment and peripheral equipment, cooperatively control the target equipment and the peripheral equipment according to the first state information of the target equipment, and transmit second state information of the other state affecting the target equipment to the single equipment simulation module.

[0009] The single equipment level simulation module adjusts the running state of the whole system simulation model corresponding to the target equipment based on the second state information.

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

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

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

[0013] The target subsystem corresponds to the target hardware device, the real-time simulation machine sends input data corresponding to the target subsystem to the target hardware device through the communication bus, and receives operation state data output by the target hardware device through the communication bus, thereby realizing joint simulation of the target hardware device and the other subsystems.

[0014] In a possible implementation, the real-time simulation machine is configured to import real-time simulation models of other subsystems corresponding to the target equipment except the target subsystem, and solve the real-time simulation models of the other subsystems, and the method comprises the following steps.

[0015] The real-time simulation machine is internally deployed with a real-time simulation engine, the real-time simulation engine is internally constructed with real-time simulation models of other subsystems corresponding to the target equipment, the real-time simulation engine solves the real-time simulation models of the other subsystems according to the running 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 configured to import real-time simulation models of other subsystems corresponding to the target equipment except the target subsystem, and solve the real-time simulation models of the other subsystems, and the method comprises the following steps.

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

[0018] In a possible implementation, the single-equipment simulation module is specifically configured to: based on a physical simulation method, construct simulation models of each subsystem in a system of the target equipment, and connect the simulation models according to interaction relationships among the subsystems to form an overall system simulation model corresponding to the target equipment, to simulate behaviors and performances of the subsystems of the target equipment in actual operation.

[0019] In a possible implementation, the single-equipment simulation module includes an interaction interface model, which is constructed based on interaction relationships among parameters of each subsystem of the target equipment, so that the subsystems interact with each other through the interaction interface model.

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

[0021] The fault injection submodule is configured to inject an interference signal for simulating a fault behavior at an input / output interface of each subsystem model.

[0022] The interaction control submodule is configured to receive an interaction operation input by a user through an input control, and convert the interaction operation into a corresponding interaction instruction and deliver the interaction instruction to the preparation system simulation model of the target equipment.

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

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

[0025] obtain a cooperative task simulation scenario, an equipment operation environment parameter, and a cooperative control algorithm input by a user, and establish an association relationship with the overall system simulation model of the target equipment constructed by the single-equipment-level simulation module, and establish an association relationship with coarse-grained simulation models of a plurality of peripheral equipment, to simulate a cooperative task scenario of the target equipment.

[0026] The second aspect of the application provides a multi-level simulation method, applied to the multi-level simulation system of any one of the first aspect, and the method includes:

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

[0028] obtaining first state information by running the overall system simulation model of the target equipment and sending the first state information to the collaborative simulation model;

[0029] driving analog 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 running state according to the second state information;

[0030] delivering input data of a target subsystem in the target equipment to a target hardware device corresponding to the target subsystem, so that the hardware device adjusts the running state according to the input data, and receiving running state data output by the target hardware device and adjusting the running state of other subsystems in the target equipment according to the running state data.

[0031] The third aspect of the present application provides a computer storage medium, the storage medium carries one or more computer programs, when the one or more computer programs are executed by an electronic device, the electronic device can realize the multi-level simulation method of the second aspect.

[0032] The fourth aspect of the present application provides a computer program product, including computer readable instructions, when the computer readable instructions run on an electronic device, so that the electronic device realizes the multi-level simulation method of the first aspect or the second aspect.

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

[0034] The memory is used to store a computer program;

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

[0036] Through the above technical solution, the multi-level simulation system provided by the 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 the 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 the data interaction between the subsystem hardware devices in the subsystem simulation module and other subsystems in the single equipment simulation module through the real-time simulation machine. It can be seen that the system connects the three levels of simulation modules to form a data communication chain, and realizes the comprehensive verification of the multi-level function and performance of the complex equipment in the same simulation scene. BRIEF DESCRIPTION OF DRAWINGS

[0037] The above and other features, advantages, and aspects of embodiments of the present disclosure will become more apparent by describing in detail exemplary embodiments thereof with reference to the attached drawings. The same or similar components have the same or similar reference numbers regardless of the drawing number. It should be understood that the drawings are schematic and elements and features do not necessarily appear in proportion to actual size.

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

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

[0040] Figure 3 A schematic diagram of communication between a single equipment level simulation module and a system level simulation module provided by the present application;

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

[0042] Figure 5 A flow schematic diagram of a multi-level simulation method provided by the present application;

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

[0044] The embodiments of the present application are described below in conjunction with the drawings in the embodiments of the present application. The terms used in the implementation part 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 drawings. Those skilled in the art can know that with the development of technology and the appearance of new scenarios, the technical solutions provided by the embodiments of the present application are also applicable to similar technical problems.

[0046] The terms "first", "second", and the like in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and do not necessarily describe a specific order or sequence. It should be understood that the terms used in this way can be interchanged under appropriate circumstances, which is only a distinguishing way used in the description of the embodiments of the present application to describe the objects with the same attribute. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, so that the processes, methods, systems, products or devices containing a series of units do not necessarily limit to those units, but can include other units not clearly listed or inherent to these processes, methods, products or devices.

[0047] Please refer toFigure 1 Figure 1 shows a schematic diagram of software deployment and hardware structure of a multi-level simulation system according to an embodiment of the present application. As shown in Figure 1, the system can include a system-level simulation module 200 and a single-equipment-level simulation module 300 deployed on a host computer 100, and a subsystem-level simulation module 400 which can communicate with the host computer. Figure 1

[0048] The subsystem-level simulation module 400 includes a real-time simulator 500 and hardware devices 600 of a subsystem.

[0049] The real-time simulator 500 and the hardware devices 600 of the subsystem communicate through a communication board card. In addition, the real-time simulator 500 can be regarded as a slave computer, and the host computer can be a computer terminal. The host computer and the slave computer are connected through a network cable to realize communication between them.

[0050] The system-level simulation module 200 is used to implement system-level simulation, specifically, to implement simulation construction of a cooperative task scenario of equipment. The system-level simulation mainly focuses on the behavior and performance of complex equipment in a cooperative task scenario, mainly the interaction and cooperation between multiple equipment systems, and their influence on the overall task.

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

[0052] For example, the host aircraft in a formation of fighter aircraft is the target equipment, which corresponds to a single-equipment-level fine-grained overall system simulation model, and the slave aircraft in the formation is peripheral equipment, which corresponds to a coarse-grained overall system simulation model.

[0053] The simulation content of the system-level simulation module 200 includes cooperative decision-making between multiple equipment, communication between equipment, information sharing, and their influence on task completion time, resource utilization, risk response, etc.

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

[0055] ​The single equipment level simulation module 300 is used to implement single equipment level simulation, and specifically, mainly focuses on the performance and function of a single equipment system, and is mainly used to establish models of various components and subsystems of the equipment system, and integrates the subsystem models according to the interaction and relationship therebetween, and completes system simulation of the whole target equipment.

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

[0057] The simulation content of the single equipment level simulation module 300 includes the structure, working principle, motion law and the like of the equipment system, and the influence thereof on the system performance and function. Meanwhile, various fault modes and abnormal conditions also 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 various subsystems of the equipment system, and simulating the behavior and performance thereof 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, mainly focuses on the performance and function of a target subsystem in the equipment system. The target subsystem can be any one of all subsystems included in the target equipment.

[0060] The subsystem simulation is to replace a subsystem in a virtual simulation model of an equipment with a corresponding hardware device 600, and to jointly simulate the hardware device 600 with the whole equipment system, and the interface and interaction therebetween.

[0061] The simulation target of the subsystem level simulation module 400 is to evaluate whether the performance and function of the hardware device corresponding to the subsystem meet the design requirements, and the reliability and stability thereof in actual use. Meanwhile, it is also necessary to verify whether the interface and interaction between the hardware device 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 and the like of the hardware device corresponding to the target subsystem, and the influence thereof on the overall system performance and function of the equipment.

[0063] The simulation method of the subsystem level simulation module 400 includes: using a semi-physical simulation method, combining the hardware devices corresponding to the target subsystem with the virtual simulation environment, simulating 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 hardware devices corresponding to the target subsystem can also be tested and verified by using the virtual simulation environment to ensure that the interfaces, interactions and operations between them and other subsystems in the equipment are correct.

[0064] The model granularity of the system level simulation, single equipment level simulation and subsystem level simulation described above gradually refines, and the data interaction demand between platforms gradually increases. The platform is required to have a good data interaction transmission interface between the single equipment level simulation and the semi-physical simulation, and the platform has real-time simulation characteristics, so the GCAir system simulation test and verification integrated platform can be selected as the tool chain main body. 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, so that different granularity models are compatible in one simulation platform, and the function and performance of the device at different levels are verified.

[0065] Please refer to Figure 2 , which shows a structure diagram of a multi-level simulation system provided by an embodiment of the present application. As Figure 2 indicated, the system includes a system level simulation module 101, a single equipment level simulation module 102 and a subsystem simulation module 103.

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

[0067] The system level simulation module 101 is used for multi-equipment system task scenarios, focusing on verifying the cooperative control logic between the equipment.

[0068] In some embodiments, the system level simulation module 101 contains complex equipment three-dimensional models, cooperative control algorithms, equipment operating environment models and other elements, which are used to build cooperative task scenarios. The cooperative task scenario needs to realize information interaction between equipment, simulation environment display, cooperative 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 the single-equipment-level simulation platform, i.e., through the interface, the interaction between the system-level simulation module 101 and the single-equipment-level simulation module 102 is realized.

[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, a GCAir system simulation test and verification integrated platform can be used. The platform serves as an intermediate layer, connects the three-dimensional dynamic simulation platform in the system-level simulation module upward, drives the full-system simulation model of the equipment in the GCAir platform according to the operation plan of the collaborative task scene, and carries out full-system simulation with detailed granularity. Through the hardware interface of the real-time simulation machine downward, the data interaction between the equipment model and the subsystem simulation module 103 containing hardware devices is realized.

[0072] The subsystem simulation models in the GCAir system simulation test and verification integrated platform can be imported in the form of FMU (Functional Mock-up Unit) Slave files. The data interaction between the subsystem simulation models can be realized through the interface control document (ICD) interface, and the simulation project of the entire equipment is constituted.

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

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

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

[0076] The following will be described in combination with Figure 3 The process of interaction between the system-level simulation module 101 and the single-equipment-level simulation module 102 will be introduced as follows:

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

[0078] When the system-level simulation module 101 performs collaborative task simulation, the output data of the equipment system model corresponding to the target equipment will be used. 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 them 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. Further, the received data is 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 pass 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 sub-modules in the system-level simulation module 101, and send them to the Var_1 and Var_2 pins of the second TCP communication module in 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 data received from 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, longitude, height 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 three-dimensional display according to the behavior data of the aircraft, and simultaneously performs corresponding cooperative control on other equipment models in the cooperative task scene. The system-level simulation module 101 sends, to the single-equipment-level simulation module 102 through the first TCP communication module, whether the aircraft is locked by other radars, where the other radars are other equipment in the three-dimensional dynamic simulation platform, or peripheral models. The single-equipment-level simulation module 102 can perform corresponding processing according to the data sent by the system-level simulation module 101.

[0081] As shown in FIG. 3, in the subsystem simulation module 103, the real-time simulation machine is connected with the subsystem hardware device through a communication board card to realize real-time simulation and data interaction. Figure 2

[0082] The target subsystem of the target equipment is replaced by a corresponding hardware device, and the hardware device and the real-time simulation machine perform data interaction through a communication board card. Meanwhile, the real-time simulation machine also performs data interaction with the single-equipment-level simulation module through a network cable.

[0083] The hardware device runs in real physical time, so the prerequisite for realizing the semi-physical subsystem simulation is real-time, and therefore a real-time simulation machine needs to be used.

[0084] The real-time simulation machine is deployed with a real-time simulation engine of the GCAir software, and the simulation model of other subsystems of the target equipment runs in the real-time simulation engine. The other subsystems refer to the subsystems of the entire system of the target equipment except the subsystem (i.e., the target subsystem) replaced by the hardware device, i.e., the subsystems except the target subsystem.

[0085] Taking the target hardware device as a motor as an example, the real-time simulation engine in the real-time simulation machine calculates the input data (such as current and voltage) of the motor, and transmits the input data to the motor through the communication board card. The motor controls the output (such as rotation 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 card.

[0086] The GCAir software is deployed in an upper computer, and the upper computer runs a windows system. The windows system cannot obtain real physical time, and it is difficult to accurately control time in the calculation process. The real-time simulation machine (i.e., a lower computer) is deployed with a Linux system, and the Linux system can obtain real physical time. The simulation model in the real-time simulation machine can obtain real-time calculation results, and therefore the real-time simulation machine is called.

[0087] ​The user builds a single-equipment system simulation model in the GCAir software of the host computer and performs calculation, which is non-real-time simulation or virtual simulation. When real-time simulation is performed, the user can connect the host computer and the slave computer using a network cable (TCP / IP) and deploy the real-time simulation engine (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 real-time simulation engine) in the slave computer. Thus, after the user builds a single-equipment system simulation project in the GCAir software of the host computer, the user clicks “change engine” to switch the default simulation engine for 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 (i.e., target subsystem) corresponding to the hardware device connected to the real-time simulation machine can be set as the hardware under test, and the IP address of the simulation engine can be set as the IP address of the real-time simulation machine. When the GCAir software of the host computer receives the operation of the user clicking the “start simulation” control, the GCAir software automatically downloads the single-equipment model to the real-time simulation machine for calculation using the real-time simulation engine. When the calculation reaches 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, which is used to participate in the operation of other subsystems of the entire equipment. Thus, the switching from the simulation of the subsystem virtual model to the real output signal of the actual device is completed, i.e., the conversion from full virtual simulation to semi-physical simulation is achieved.

[0089] The following takes a fighter as an example to illustrate the simulation:

[0090] In this scenario, the system-level simulation can be a simulation of a formation of fighters performing a combat mission, or a simulation of a confrontation between red and blue sides. Taking a formation of fighters performing a combat mission as an example, one fighter in the formation (the master in the formation) is configured as an equipment performing fine-grained model simulation, i.e., single-equipment level simulation of the master fighter. At the same time, the other fighters in the formation (slaves in the formation) are set as coarse-grained models in the three-dimensional dynamic simulation platform. The coarse-grained models of various equipment can be imported in the form of FMU in the system-level simulation platform.

[0091] The single-equipment level simulation is used to simulate the components and subsystems in the fighter, and to integrate the subsystems according to their interactions and relationships, forming a whole system simulation model of the fighter. For example, the flight control subsystem, the dynamics subsystem, the kinematics subsystem, the energy subsystem, etc. The input and output of each subsystem are connected according to the interaction between the subsystems, forming a simulation model of the whole system of the fighter.

[0092] The single-equipment-level overall system simulation model 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 an FMU Slave file, so that the single-equipment-level simulation and the system-level simulation can be implemented in the same scene.

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

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

[0095] Please refer to Figure 4 , which shows another multi-level simulation system structure provided in the embodiment, and the embodiment focuses on introducing the specific functions of the modules in the multi-level simulation system.

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

[0097] In the embodiment, the system-level simulation module is mainly realized by using a three-dimensional dynamic simulation platform developed based on Uinty3D. The platform has an interface for communicating with the GCAir software, can collaboratively control and display the state of the equipment in the simulation process in three dimensions, and supports UI interaction. The user can not only customize the editing of the simulation scene of the equipment, but also save and display the data of the simulation results.

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

[0099] 1) Equipment simulation model loading

[0100] The system-level simulation module supports loading existing equipment simulation models in the equipment library, such as fighter aircraft, airships, ground stations, and ships, and also supports users importing 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 communication with the GC Air software, supports loading FMU Slave files, realizes data communication between the system-level simulation module and the GC Air simulation platform, and realizes joint simulation and debugging between the two software.

[0103] 3) Import of cooperative control algorithm

[0104] The system simulation module supports importing a cooperative control algorithm to control the actions of multiple equipment in a three-dimensional dynamic simulation platform and realize cooperative task simulation of multiple equipment.

[0105] 4) Simulation data display function

[0106] The system simulation module supports real-time display of the state quantities and parameter values of each equipment during simulation, and users can customize 2D curves through the UI interface to realize visual display of simulation results.

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

[0108] The GC Air system simulation test and verification integrated platform 202 can build an integrated simulation model of the entire system of the equipment and complete virtual simulation of the equipment based on a typical task scenario. The main functions of the platform are as follows:

[0109] 1) FMU integration

[0110] FMU is an executable file created by a model developer and complies with the FMI (Functional Mock-up Interface) standard. FMI is an open 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 is distributed in the form of a ZIP file. The FMU file is used to describe a simulation model that complies with the FMI standard and can be used in different simulation and analysis tools.

[0111] Here, each subsystem and functional module of the equipment is imported through the FMU file import method to realize simulation interaction between the modules.

[0112] 2) ICD interaction

[0113] The user can construct the communication architecture between the subsystems in the equipment according to the specific communication situation inside the equipment through the UI interaction interface. The subsystems realize data interaction through the ICD interface and the connection line between the ICD interfaces, so that the equipment system simulation architecture is consistent with the hardware device communication architecture, and the subsequent subsystem semi-physical simulation is realized.

[0114] 3) Fault injection

[0115] The interference signals such as gain, noise, offset are applied to the model input / output interface to simulate the fault behavior during the equipment system simulation, and a fault simulation mechanism is provided.

[0116] 4) Control configuration

[0117] The GCAir system simulation test and verification integrated platform 202 can provide interaction, display and other components. The user can view the simulation results through curves and tables. The user can interactively intervene in the simulation process through knobs and knobs. Moreover, the controls can be freely combined to support custom UI interface settings.

[0118] 5) Timing control

[0119] The GCAir system simulation test and 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 and verification integrated platform 202 can map the ICD bus interface with the board card interface of the semi-physical simulation platform. Under the semi-physical simulation condition, the interaction with the hardware device is realized, and the virtual-real simulation effect is achieved.

[0122] The subsystem-level semi-physical simulation platform 203 can include real-time simulators, measured hardware, network cables, and communication board cards.

[0123] The real-time simulator interacts with the GCAir system simulation test and verification integrated platform 202 through the network cable. At the same time, the real-time simulator interacts with the measured hardware through the communication board card. The real-time simulator can be equipped with a communication board card of the corresponding type according to the interface type of the measured hardware, so as to complete the data loop between the measured hardware-communication board card-real-time simulator.

[0124] The real-time simulator deploys the real-time simulation engine and the communication board card driver provided by the GCAir system, so as to have real-time simulation and semi-physical extended simulation capabilities.

[0125] The embodiment of the present application further provides a multi-level simulation method. The method is applied to the multi-level simulation system. Figure 5 As shown in the figure, the method can include the following steps:

[0126] S101, constructing an overall system simulation model corresponding to the target equipment, a cooperative 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, running the overall system simulation model of the target equipment to obtain first state information and sending the first state information to the cooperative simulation model.

[0128] S103, driving the simulation of the cooperative 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 running state according to the second state information.

[0129] S104, transmitting 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 running state according to the input data, and receiving the running state data output by the target hardware device and adjusting the running state of other subsystems in the target equipment according to the running state data.

[0130] The multi-level simulation method provided by the embodiment constructs a cooperative 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. The system-level simulation module and the single-equipment-level simulation module are both deployed in an upper computer, and data interaction between the two modules is realized through a corresponding software interface. The single-equipment-level simulation module and the subsystem simulation module realize data interaction between the hardware device of the subsystem 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 to form a data communication chain, and realizes comprehensive verification of the multi-level functions and performance of complex equipment in the same simulation scene.

[0131] The embodiment of the present application further provides an electronic device. Referring to Figure 6 As shown in the figure, it shows a structure diagram suitable for realizing the electronic device in the embodiment of the present application. The electronic device in the embodiment of the present application can include but not limited to fixed terminals such as notebook computers, PDAs (personal digital assistants), PADs (tablet computers), desktop computers and the like. Figure 6 The electronic device shown in the figure is only an example, and should not bring any limitation to the functions and use range of the embodiment of the present application.

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

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

[0134] The embodiment of the present application also provides a computer program product comprising computer readable instructions, which, when executed on an electronic device, cause a multi-level simulation system comprising the electronic device to implement any of the multi-level simulation methods provided by the embodiment of the present application.

[0135] The embodiment of the present application also provides a computer readable storage medium carrying one or more computer programs, which, when executed by an electronic device, can cause a multi-level simulation system comprising the electronic device to implement any of the multi-level simulation methods provided by the embodiment of the present application.

[0136] In addition, it should be noted that the above-described device embodiments are only schematic and that real implementations can differ from that described above, for example due to the design choices made to implement the described functionality. In addition, it should be noted that individual elements illustrated as separate components in each figure can or can not be physically separate components. Other components can be also considered as parts of the components. The components shown as separate components can be implemented as parts of one or more components and vice versa. Furthermore, the one or more components can be implemented as part of a larger system, for example, a computer system. Additionally, it should be understood that the figures can not be drawn to scale and that the dimensions of the various features in the figures can be chosen for clarity of presentation and are not to be construed as limiting.

[0137] Those skilled in the art can clearly understand that the application can be implemented by means of software plus necessary universal hardware, and of course can also be implemented by means of dedicated hardware including special integrated circuit, special CPU, special memory, special component, etc. Generally, any function completed by computer program can be easily implemented by corresponding hardware, and the specific hardware structure for implementing the same function can also be various, such as analog circuit, digital circuit or special circuit, etc. However, for the application, software program implementation is a better embodiment. Based on such understanding, the technical solution of the application or the part of the application which makes contribution to the prior art can be embodied in the form of software product, which is stored in readable storage medium, such as computer floppy disk, U disk, mobile hard disk, ROM, RAM, magnetic disk or optical disk, etc., and includes a plurality of instructions for making a computer device (which can be personal computer, training device or network device, etc.) execute the method described in various embodiments of the application.

[0138] In the above embodiments, the implementation can be achieved by software, hardware, firmware or any combination thereof, entirely or partially. When implemented by software, the implementation can be achieved in the form of a computer program product, entirely or partially.

[0139] The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the flow or function described in the embodiments of the application is generated entirely or partially. The computer can be a general-purpose computer, a special-purpose computer, a computer network or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another, for example, the computer instructions can be transmitted from one website, computer, training device or data center to another website, computer, training device or data center through wired (such as coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (such as infrared, wireless, microwave, etc.) mode. The computer-readable storage medium can be any available medium that can be stored by a computer or a data storage device such as a training device, a data center, etc. integrated with one or more available media sets. The available medium can be a magnetic medium (such as a floppy disk, a hard disk, a magnetic tape), an optical medium (such as a DVD), or a semiconductor medium (such as a solid state disk (SSD)), etc.

Claims

1. A multi-level simulation system, characterized by, The system comprises a system-level simulation module, a single-equipment-level simulation module, and a subsystem-level simulation module, wherein the system-level simulation module is connected to the single-equipment-level simulation module through TCP, and the subsystem-level simulation module is connected to the single-equipment-level simulation module through a communication network cable. The single-equipment-level simulation module is configured to construct a whole system simulation model of a target equipment, and send first state information of the target equipment to the system-level simulation module. The system-level simulation module is configured to construct a cooperative simulation model between the target equipment and peripheral equipment, cooperatively control the target equipment and the peripheral equipment according to the first state information of the target equipment, and transmit second state information affecting the target equipment to the single-equipment-level simulation module. The single-equipment-level simulation module adjusts the running state of the whole system simulation model corresponding to the target equipment based on the second state information. The subsystem-level simulation module is configured to replace a target subsystem in the whole system simulation model corresponding to the target equipment with a target hardware device, and verify the interaction between the target hardware device and other subsystems in the whole system. The system-level simulation module is configured to construct a whole 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, the system-level simulation module is specifically configured to: obtain a cooperative task simulation scene, equipment running environment parameters, and a cooperative control algorithm input by a user, and establish an association relationship with the whole system simulation model of the target equipment constructed by the single-equipment-level simulation module, and establish an association relationship with coarse-grained simulation models of multiple peripheral equipment, to simulate a cooperative task scene of the target equipment. The subsystem simulation module comprises a real-time simulation machine and a target hardware device, and the real-time simulation machine and the target hardware device are connected through a communication bus.

2. The system of claim 1, wherein, The real-time simulation machine is configured to import real-time simulation models of other subsystems corresponding to the target equipment except the target subsystem, and solve the real-time simulation models of the other subsystems. The target subsystem corresponds to the target hardware device, the real-time simulation machine sends input data of the target subsystem to the target hardware device through the communication bus, and receives running state data output by the target hardware device through the communication bus, to realize joint simulation of the target hardware device and the other subsystems. The real-time simulation machine is configured to import real-time simulation models of other subsystems corresponding to the target equipment except the target subsystem, and solve the real-time simulation models of the other subsystems, comprising:

3. The system of claim 2, wherein, ​ The real-time simulator is internally deployed with a real-time simulation engine, the real-time simulation engine is internally built with real-time simulation models corresponding to other subsystems of the target equipment, the real-time simulation engine calculates the real-time simulation models corresponding to the other subsystems in the order of running logic between the subsystems, and the real-time simulation engine runs at a real physical time.

4. The system of claim 2 or 3, wherein, The real-time simulator is used to import real-time simulation models of other subsystems of the target equipment except the target subsystem, and to calculate the real-time simulation models of the other subsystems, and the method comprises the following steps of: In the single-equipment-level simulation module, the target subsystem is set as measured hardware, and the IP address of the simulation engine is set as the IP address of the real-time simulator, the single-equipment-level simulation module automatically issues the simulation models of the other subsystems to the real-time simulator for calculation.

5. The system according to any of claims 1-3, characterized in that, The single-equipment-level simulation module is specifically used for: based on a physical simulation method, constructing simulation models of each subsystem in a system of the target equipment, and connecting according to interaction relationships of the subsystems to form an overall system simulation model corresponding to the target equipment, to simulate behaviors and performances of each subsystem of the target equipment in actual operation.

6. The system of claim 5, wherein, The single-equipment-level simulation module comprises an interaction interface model, the interaction interface model is constructed based on interaction relationships between parameters of each subsystem of the target equipment, so that the subsystems interact with each other through the interaction interface model.

7. The system of claim 5, wherein, The single-equipment-level simulation module further comprises a fault injection submodule, an interaction control submodule and a display submodule; The fault injection submodule is used for injecting interference signals for simulating fault behaviors at input and output interfaces of each subsystem model; The interaction control submodule is used for receiving interaction operations input by a user through an input control, and converting the interaction operations into corresponding interaction instructions and delivering the interaction instructions to the ready system simulation model of the target equipment; The display submodule is used for displaying the overall system simulation model of the target equipment and simulation results.

8. A multi-level simulation method, characterized by, The method is applied to the multi-level simulation system of any one of claims 1-7, and the method comprises the following steps: constructing an overall system simulation model corresponding to the target equipment, a cooperative 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 send the first state information to the cooperative simulation model; driving analog simulation of the cooperative 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 a running state according to the second state information; delivering 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 a running state according to the input data, and receiving running state data output by the target hardware device and adjusting a running state of other subsystems in the target equipment according to the running state data.

9. A computer storage medium, characterized in that The storage medium carries one or more computer programs, when the one or more computer programs are executed by the electronic device, can make the electronic device realize the multi-level simulation method as claimed in claim 8.

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