Digital train and joint simulation method and system

Abstract

The invention provides a digital train and a joint simulation method and system. The method comprises the following steps: acquiring a user demand, establishing a system demand model, generating scene protocol data according to a system operation scene, and generating interaction protocol data according to the system demand model; analyzing the scene protocol data, simulating a digital train system operation scene in a virtual railway vehicle three-dimensional scene, and generating operation protocol data; and analyzing the interaction protocol data, establishing a performance simulation model of each component of the system according to the interaction protocol data, performing simulation to generate a simulation result, converting the simulation result and process parameters in the simulation process into motion protocol data, and feeding back the motion protocol data to the process of simulating the operation scene of the digital train system. Through multi-model fusion digital train simulation and test, user requirements can be met, system performance can be verified, and a more visual digital train operation effect is achieved.

Description

Technical Field

[0001] This application relates to the field of rail transit, and particularly to a digital train, a joint simulation method and a system. Background Art

[0002] With the proposal of the manufacturing development strategy, intelligent manufacturing has become the common trend and goal of the development of the manufacturing industry. Digital R & D, digital manufacturing, and digital management have become the hotspots that enterprises focus on for digital transformation. The digitization of products throughout the life cycle faces the acquisition - transmission - processing - use - display of multi - source heterogeneous data in multiple disciplines, multiple dimensions, and multiple spatio - temporal domains. At the same time, the requirements of passengers / users in the rail transit field for digital trains are becoming more and more strict and urgent.

[0003] Currently, train models are usually built through a semi - physical simulation platform or a full - digital simulation platform. The semi - physical simulation platform or the full - digital simulation platform uses mathematical models to replace equipment or systems to verify specific functions of a specific system or adjust control strategies. Its purpose is to achieve effective control of the system or optimize control strategies from a control perspective. The outputs are mostly professional curves and parameters, which cannot vividly reflect the system performance and the movement forms of its components, and cannot reflect the full - digital simulation and digital operation display from the requirements of the entire life cycle to the system operation scenario. Users cannot intuitively view the system operation scenario of this system. Summary of the Invention

[0004] To solve one of the above - mentioned technical defects, a digital train, a joint simulation method and a system are provided in the embodiments of this application.

[0005] In the first aspect of the embodiments of this application, a digital train and a joint simulation method are provided. The method includes:

[0006] Obtain user requirements, define the system operation scenario according to the user requirements, conduct system structure analysis according to the system operation scenario, establish a system requirements model, generate scenario protocol data according to the system operation scenario, and generate interaction protocol data according to the system requirements model;

[0007] Parse the scenario protocol data, establish a three - dimensional virtual rail vehicle scene corresponding to the scenario protocol data, simulate the system operation scenario of the digital train in the three - dimensional virtual rail vehicle scene and generate operation protocol data;

[0008] Parse the interaction protocol data, establish performance simulation models of each component of the system according to the interaction protocol data, simulate the performance of each component of the system according to the performance simulation models and the operation protocol data to generate simulation results, and convert the simulation results and the process parameters during the simulation process into motion protocol data and feedback them to the process of simulating the system operation scenario of the digital train.

[0009] In the second aspect of the embodiments of the present application, a digital train and a co-simulation system are provided. The system includes:

[0010] A requirements analysis device, configured to obtain user requirements, define a system operation scenario according to the user requirements, perform system structure analysis according to the system operation scenario, establish a system requirements model, generate scenario protocol data according to the system operation scenario, and generate interaction protocol data according to the system requirements model;

[0011] A scenario simulation device, configured to parse the scenario protocol data, establish a three-dimensional virtual track vehicle scenario corresponding to the scenario protocol data, simulate a digital train system operation scenario in the three-dimensional virtual track vehicle scenario, and generate operation protocol data;

[0012] A performance analysis device, configured to parse the interaction protocol data, establish a performance simulation model for each component of the system according to the interaction protocol data, perform simulation on the performance of each component of the system according to the performance simulation model and the operation protocol data to generate a simulation result, and convert the simulation result and the process parameters during the simulation process into motion protocol data and feedback it to the process of simulating the digital train system operation scenario of the scenario simulation device.

[0013] By using the digital train and the co-simulation method and system provided in the embodiments of the present application, it is possible to start from the scenario required by the user, decompose the user requirements, form a system architecture, establish a performance simulation model according to the system architecture, display the digital train and its system operation scenario required by the user, and realize the integration of multiple models including the system requirements model, the three-dimensional virtual track vehicle scenario, and the performance simulation model at different levels and different dimensions in the system operation scenario, forming a co-simulation and test of the digital train with multi-model integration. It can not only meet the user requirements but also verify the system performance, achieving a more intuitive digital train operation effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The schematic embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation to the present application. In the drawings:

[0015] Figure 1 is the digital train and co-simulation method described in Embodiment 1 of the present application;

[0016] Figure 2 is a schematic diagram of the principle of the digital train and co-simulation system described in Embodiment 2 of the present application;

[0017] Figure 3 is a schematic diagram of the scenario of the track vehicle leaving the warehouse in a normal system operation scenario;

[0018] Figure 4 It is a schematic diagram of the principle of the system requirements decomposition module;

[0019] Figure 5 It is a schematic diagram of the principle of the system requirements decomposition module with the core research system being the traction system;

[0020] Figure 6 It is a schematic diagram of the principle of the performance simulation model of the traction system;

[0021] Figure 7 It is a schematic diagram of the principle of the performance simulation model of the vehicle door system;

[0022] Figure 8 It is a schematic diagram of the principle of the digital train and co - simulation system with the traction system and the vehicle door system as the core research systems. Specific implementation manners

[0023] In order to make the technical solutions and advantages in the embodiments of the present application clearer and more understandable, the following further details the exemplary embodiments of the present application with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than an exhaustive list of all embodiments. It should be noted that, without conflict, the embodiments in the present application and the features in the embodiments can be combined with each other.

[0024] Currently, the research on digital trains in the field of rail transit is in its infancy, mainly organizing data in various forms and presenting the data in the operation and maintenance stage. The heterogeneous data fusion in the multi - disciplinary, multi - dimensional, and multi - spatio - temporal fields in the full - life - cycle stage is in the research stage. It is necessary to use the system engineering methodology starting from the top - level user requirements and top - level scenarios, establish a digital train model driven by demand input, realize the modeling and analysis process of demand - function - logic - physics, and substitute the involved system performance into the 3D digital scenario in the form of performance simulation to achieve the optimal design, optimal control, and multi - disciplinary comprehensive trade - off of the architecture and units of the rail vehicle system, as well as rapid design and iteration. Based on this, the present application proposes a digital train and co - simulation method and system.

[0025] Embodiment 1

[0026] As Figure 1 shown, this embodiment proposes a digital train and co - simulation method, which includes:

[0027] S101. Obtain user requirements, define the system operation scenario according to the user requirements, perform system structure analysis according to the system operation scenario, establish a system requirements model, generate scenario protocol data according to the system operation scenario, and generate interaction protocol data according to the system requirements model.

[0028] The digital train and joint simulation method proposed in this embodiment are based on multi-model fusion and start from the top-level user requirements. By obtaining the user requirements, the system operation scenarios are defined according to the user requirements. Specifically, first, the itemized requirements of the user are received, and then, starting from the user requirements, the system operation scenarios that the user needs, cares about, or needs to verify are established. Then, the system operation scenarios are refined, decomposed, and numbered according to the types of the system operation scenarios. Through the user requirements, the core research system and external systems in the system operation scenarios to be simulated by the user can be analyzed. Thus, the requirements of the core research system can be decomposed for each system operation scenario, and the functional use cases focusing on the core research system can be defined. At the same time, an activity diagram is drawn, and functional logic analysis is performed according to the activity diagram. Thus, according to the results of the functional logic analysis, the structures of the core research system and external systems are refined and decomposed to generate the system interaction parameters between the core research system and external systems, and at the same time, the definition and numbering of the system operation scenarios are improved. Through the system interaction parameters, the static structures and dynamic behaviors of each part of the decomposed core research system and external systems are modeled to establish a system requirements model. Among them, the scenario protocol data can be generated according to the system operation scenarios, and the interaction protocol data can be generated according to the system requirements model. The scenario protocol data and the interaction protocol data can be used as the generation basis for the three-dimensional scene and performance simulation model of the virtual rail vehicle.

[0029] S102. Analyze the scenario protocol data, establish a three-dimensional scene of the virtual rail vehicle corresponding to the scenario protocol data, and simulate the system operation scenario of the digital train in the three-dimensional scene of the virtual rail vehicle to generate operation protocol data.

[0030] Specifically, by analyzing the scenario protocol data, a three-dimensional scene of the virtual rail vehicle with the core research system as the core can be constructed, and a scenario element model can be established in the three-dimensional scene of the virtual rail vehicle. The scenario element model includes, but is not limited to, three-dimensional models such as a rail vehicle model, a station model, a vehicle exterior model, a human-machine interaction model, and a line model.

[0031] The rail vehicle model can be transformed from the three-dimensional model of a real vehicle, and the aesthetic effect is the same as that of the real vehicle, realistically displaying the overall appearance, interior, and driver's cab of the digital train. The station model includes a station entity model, various in-station facility models, in-out signal equipment models, etc., and can realistically display the preset scenarios in the station. The vehicle exterior model includes exterior things along the line, such as trees, base stations, factories, etc. The line model includes a track model, a turnout model, a public network model, and an overhead support, and is used to vividly display scenarios such as the digital train passing through turnouts, passing through neutral sections, raising and lowering pantographs, etc.

[0032] Render the scene element model to form a virtual operation environment of the rail vehicle with the core research system as the focus. Among them, the rendering process includes, but is not limited to, texture mapping, lighting setting, rendering baking, etc. All should be in accordance with the actual processing methods required by the scene element model, and there are no special restrictions in this embodiment. The operation scenario of the digital train system can be simulated in this virtual operation environment of the rail vehicle.

[0033] S103. Analyze the interaction protocol data, establish the performance simulation models of the components of the system according to the interaction protocol data, simulate the performance of the components of the system according to the performance simulation models and the operation protocol data to generate simulation results, and convert the simulation results and the process parameters in the simulation process into motion protocol data and feedback them to the process of simulating the operation scenario of the digital train system.

[0034] Specifically, by analyzing the interaction protocol data, the core research system and the structures of its decomposed parts can be obtained. For example, the subsystems and their subsystem components divided by the core research system, so as to establish the performance simulation models of the structures of each part. In this embodiment, the Modelica language is used to develop the performance simulation model corresponding to the core research system. In the modeling process, the variables and equations in the model need to be considered, and the details of model solving are not concerned. The Modelica model uses the mathematical descriptions of differential, algebraic, and discrete equations, and has the characteristics of universality, openness, and standardization, and has good reusability, reconfigurability, and scalability. Using the above advantages, model libraries of the components of their respective systems are established for different core research systems, and performance simulation models are built. For the system expressing actions or motion processes, a multi-body dynamics model is established, that is, by defining the motion relationship, the performance simulation model is converted into a multi-body dynamics model. Information such as the geometric dimensions, mass, and moment of inertia of the system requirement model can be synchronized to the performance simulation model. Set the step size according to the real-time requirements of different structures, and encapsulate the multi-body dynamics models of each part of the structure. Finally, simulate the performance of the components of the system according to the multi-body dynamics model and the operation protocol data to generate simulation results.

[0035] In the digital train and co-simulation method proposed in this embodiment, first starting from the scenario required by the user, the user requirements are decomposed to form a system architecture, and a performance simulation model is established according to the system architecture, which can display the digital train and its system operation scenario required by the user, and realize the integration of multiple models of the system requirement model, the virtual rail vehicle three-dimensional scene, and the performance simulation model at different levels and different dimensions in the system operation scenario, forming a digital train simulation and test with multi-model fusion, which can not only meet the user requirements, but also verify the system performance, achieving a more intuitive digital train operation effect.

[0036] In some optional embodiments, the method proposed in this embodiment further includes:

[0037] Configure a human - machine interaction interface, on which the system operation scenario is displayed;

[0038] Obtain the externally input system operation scenario through this human - machine interaction interface;

[0039] Call the system requirement model, the three - dimensional scene of the virtual rail vehicle, and the performance simulation model according to the system operation scenario for simulation, and display the simulation results through the human - machine interaction interface.

[0040] Specifically, the human - machine interaction interface reasonably combines the system operation scenarios according to the generated system operation scenarios and their numbers, and orderly calls the corresponding three - dimensional scenes of the virtual rail vehicle. In the three - dimensional scene of the virtual rail vehicle, performance analysis will be carried out on the core research systems involved in the performance simulation, and the results and key parameters of the performance simulation will be fed back. The human - machine interaction interface will display the results and key parameters. Under human - machine interaction, through the joint simulation and display of the operation protocol data and the performance simulation model of typical operation scenarios such as in - station preparation, operation, approach, and emergency of the digital train, it realizes the effective integration of the system requirement model, the performance simulation model, the multi - body dynamics model, and the three - dimensional scene of the virtual rail vehicle starting from the top - level requirement scenario, and achieves joint simulation and vehicle operation display.

[0041] Adopting the digital train and joint simulation method and system based on multi - model fusion provided in this embodiment, it can start from the scenario required by the user, decompose the user requirements to form a system architecture, establish a performance simulation model according to the system architecture, be able to display the digital train and its system operation scenario required by the user, realize the fusion of multi - models of the system requirement model, the three - dimensional scene of the virtual rail vehicle, and the performance simulation model at different levels and different dimensions in the system operation scenario, form the digital train simulation and test of multi - model fusion, which can not only meet the user requirements, but also verify the system performance, and achieve a more intuitive digital train operation effect.

[0042] Embodiment 2

[0043] Corresponding to Embodiment 1, this embodiment proposes a digital train and joint simulation system, as Figure 2 shown, the system includes:

[0044] A requirement analysis device, which is used to obtain user requirements, define the system operation scenario according to the user requirements, conduct system structure analysis according to the system operation scenario, establish a system requirement model, generate scenario protocol data according to the system operation scenario, and generate interaction protocol data according to the system requirement model;

[0045] A scenario simulation device is used to parse scenario protocol data, establish a three-dimensional virtual rail vehicle scenario corresponding to the scenario protocol data, simulate the operation scenario of a digital train system in the three-dimensional virtual rail vehicle scenario, and generate operation protocol data.

[0046] A performance analysis device is used to parse interaction protocol data, establish a performance simulation model for each component of the system according to the interaction protocol data, simulate the performance of each component of the system based on the performance simulation model and the operation protocol data to generate a simulation result, and convert the simulation result and the process parameters during the simulation process into motion protocol data and feedback it to the process of simulating the operation scenario of the digital train system in the scenario simulation device.

[0047] Specifically, in this embodiment, the requirements analysis device is used to undertake the itemized requirements of users, define the operation scenario of the core research system and number it. For each operation scenario, define the boundary and activity relationship between the core research system and external systems, model the static structure and dynamic behavior of the system, conduct requirements analysis, decomposition and allocation of the system, and establish a system requirements, function, architecture and index allocation model. Generate scenario protocol data according to the system operation scenario and send it to the scenario simulation device, generate interaction protocol data according to the system requirements model, and send data such as the architecture, function logic and performance indicators of the system to the performance analysis device.

[0048] The digital train and joint simulation system proposed in this embodiment starts from the scenario required by the user, decomposes the user requirements to form a system architecture, establishes a performance simulation model according to the system architecture, can display the digital train and its system operation scenario required by the user, and realizes the integration of multiple models of the system requirements model, three-dimensional virtual rail vehicle scenario and performance simulation model at different levels and dimensions in the system operation scenario, forming a multi-model integrated digital train simulation and test, which can not only meet the user requirements, but also verify the system performance, achieving a more intuitive digital train operation effect.

[0049] In this embodiment, the requirements analysis device further includes a scenario definition module, a system requirements decomposition module and a data interaction module.

[0050] The scenario definition module is used to obtain user requirements, establish a system operation scenario, refine and decompose the system operation scenario according to the type of the system operation scenario, and number the refined and decomposed system operation scenarios. As Figure 3 shown is an example of the scenario of a rail vehicle leaving the depot in a normal system operation scenario.

[0051] The system requirement decomposition module is used to obtain the core research system and external systems according to user requirements, decompose the requirements of the core research system in the operation scenarios of each system, define the functional use cases focusing on the core research system, draw activity diagrams, conduct functional logic analysis based on the activity diagrams, decompose the structures of the core research system and external systems according to the results of the functional logic analysis, generate system interaction parameters between the core research system and external systems, and model the static structures and dynamic behaviors of each part of the decomposed core research system and external systems through the system interaction parameters to establish a system requirement model.

[0052] In this embodiment, the system requirement decomposition module can divide the core research system into a requirement class model, a behavior class model, a structure class model, and a parameter class model, as Figure 4 shown. Taking the core research system as the traction system as an example, as Figure 5 shown, after the system requirement decomposition module decomposes the traction system, it can generate a traction system requirement class model, a traction system behavior class model, a traction system structure class model, and a traction system parameter class model.

[0053] The data interaction module is used to generate scenario protocol data according to the system operation scenario and send it to the scenario simulation device, and generate interaction protocol data according to the system requirement model and send it to the performance analysis device.

[0054] Specifically, the data interaction module sends the encoding of the system operation scenario generated according to user requirements to the scenario simulation device in the form of scenario protocol data. The scenario simulation device can parse the encoding and set the corresponding virtual rail vehicle three-dimensional scenario. The data interaction module can also send the system architecture, interaction logic, and related parameters involved in the final system requirement model of the system requirement decomposition module to the performance analysis device in the form of interaction protocol data, and can also receive the feedback results of the performance analysis device and make diagnostic records.

[0055] In this embodiment, the scenario simulation device is also used to parse the scenario protocol data, construct a virtual rail vehicle three-dimensional scenario with the core research system as the core, establish a scenario element model in the virtual rail vehicle three-dimensional scenario, perform rendering processing on the scenario element model to generate a virtual operation environment of the rail vehicle focusing on the core research system, and simulate the operation scenario of the digital train system in the virtual operation environment of the rail vehicle.

[0056] Specifically, by parsing the scenario protocol data, the scenario simulation device can construct a virtual rail vehicle three-dimensional scenario with the core research system as the core and establish a scenario element model in the virtual rail vehicle three-dimensional scenario. The scenario element model includes, but is not limited to, three-dimensional models such as rail vehicle models, station models, vehicle exterior models, human-computer interaction models, and line models.

[0057] The rail vehicle model can be transformed from the 3D model of a real vehicle, with the aesthetic effect being consistent with that of the real vehicle, and realistically displaying the overall appearance, interior, and driver's cab of the digital train. The station model includes the station entity model, various in-station facility models, in-out signal equipment models, etc., and can realistically display the preset scenarios within the station. The vehicle exterior scene model includes exterior things along the line, such as trees, base stations, factories, etc. The line model includes the track model, turnout model, public network model, and overhead support, and is used to vividly display scenarios such as the digital train passing through turnouts, passing through neutral sections, raising and lowering pantographs, etc.

[0058] Render the scene element model to form a virtual operation environment of the rail vehicle with the core research system as the focus. Among them, the rendering process includes, but is not limited to, methods such as texturing, lighting settings, and rendering baking. All should be based on the actual processing methods required by the scene element model, and this embodiment does not make special restrictions. In this virtual operation environment of the rail vehicle, the operation scenario of the digital train system can be simulated.

[0059] In this embodiment, the performance analysis device is also used to parse the interaction protocol data, obtain the core research system and each part structure after the decomposition of the core research system, establish a performance simulation model for each part structure after the decomposition of the core research system, define the motion relationship, transform the performance simulation model into a multi-body dynamics model, set the step size according to the real-time requirements of different structures, encapsulate the multi-body dynamics models of each part structure, and simulate the performance of each component of the system according to the multi-body dynamics model and the operation protocol data to generate a simulation result.

[0060] Specifically, by parsing the interaction protocol data, the performance analysis device can obtain the core research system and each part structure after the decomposition of the core research system, such as the subsystems divided by the core research system and their subsystem components, so as to establish a performance simulation model for each part structure. In this embodiment, the Modelica language is used to develop the performance simulation model corresponding to the core research system. During the modeling process, variables and equations in the model need to be considered, and the details of model solving are not concerned. The Modelica model uses the mathematical descriptions of differential, algebraic, and discrete equations, and has the characteristics of generality, openness, and standardization, and has good reusability, reconfigurability, and scalability. Using the above advantages, model libraries of system components for different core research systems are established, and performance simulation models are built. For systems expressing actions or motion processes, multi-body dynamics models are established, that is, by defining the motion relationship, the performance simulation model is transformed into a multi-body dynamics model. Information such as the geometric dimensions, mass, and moment of inertia of the system requirement model can be synchronized to the performance simulation model. Set the step size according to the real-time requirements of different structures, and encapsulate the multi-body dynamics models of each part structure. Finally, simulate the performance of each component of the system according to the multi-body dynamics model and the operation protocol data to generate a simulation result.

[0061] According to the interactive protocol data received from the requirements analysis device and the operation protocol data received from the scenario simulation device, the performance analysis device can perform performance simulation on the system, and jointly with the requirements analysis device and the scenario simulation device, realize the joint simulation of the digital train operation scenario.

[0062] In some alternative embodiments, the scenario simulation device further includes a human-computer interaction module. The human-computer interaction module includes a human-computer interaction interface, on which the system operation scenario is displayed. The human-computer interaction module is used to obtain the externally input system operation scenario through the human-computer interaction interface, so that the requirements analysis device calls the system requirements model according to the system operation scenario, the scenario simulation device calls the virtual track vehicle three-dimensional scenario according to the system operation scenario, and the performance analysis device calls the performance simulation model according to the system operation scenario for simulation, and displays the simulation results through the human-computer interaction interface.

[0063] Specifically, the human-computer interaction module includes a human-computer interaction interface and a data processing module. The human-computer interaction interface can also be divided into two areas: an operation interface and a display interface. The operation interface can reasonably combine the system operation scenarios according to the generated system operation scenarios and their numbers, and orderly call the corresponding virtual track vehicle three-dimensional scenarios. In the virtual track vehicle three-dimensional scenario, performance analysis will be carried out on the core research systems involved in the performance simulation, and the results and key parameters of the performance simulation will be fed back. The display interface will display the results and key parameters. Under human-computer interaction, through the operation protocol data and the performance simulation model, typical operation scenarios such as in-station preparation, operation, arrival, and emergency of the digital train are jointly simulated and displayed, thus realizing the effective integration of the system requirements model, performance simulation model, multi-body dynamics model, and virtual track vehicle three-dimensional scenario starting from the top-level requirements scenario, and realizing joint simulation and vehicle operation display.

[0064] Taking the normal system operation scenario of the traction system and the vehicle door system, which are the core research systems of the track vehicle, as an example, the specific principle of the digital train and the joint simulation system proposed in this embodiment is further described.

[0065] Establish a system requirements model. Define the normal system operation scenario of the track vehicle according to user requirements, and establish a requirements class model, behavior class model, structure class model, and parameter class model of the core research system in the requirements analysis device. The scenarios of leaving the depot, operation preparation, train operation, stopping at stations, the terminal station, and entering the depot are numbered as the normal system operation scenario, and then each refined simulation system operation scenario is carried out. Generate scenario protocol data according to the system operation scenario and send it to the scenario simulation device, generate interactive protocol data according to the system requirements model, and send data such as the architecture, functional logic, and performance indicators of the system to the performance analysis device.

[0066] Build a performance simulation model. The performance simulation model is the core of the digital train and is used to simulate the characteristics of multiple professional fields such as electricity, mechanics, heat transfer, and control in the core research system. The performance analysis device receives the interactive protocol data from the requirements analysis device and constructs a traction system performance simulation model and a vehicle door system performance simulation model, as Figure 6 and Figure 7 shown. Among them, the traction system performance simulation model includes a pantograph model, a main transformer model, a rectifier model, an inverter model, a traction motor model, a cooling system model, and a fault trigger model. The vehicle door system performance simulation model includes a door control system model, a motor control model, a driver and motor body model, a transmission model, a locking device model, a door structure model, etc.

[0067] The performance analysis device makes a trade-off between simulation accuracy and simulation speed. It should not only accurately reflect the characteristics during the system operation process but also have sufficient simulation speed. When considering building the model library, some models with long simulation time are reduced in order and optimized for real-time simulation under the condition of meeting the accuracy. The performance analysis device receives the operation protocol data from the scenario simulation device, including main breaker closing instruction, main breaker opening instruction, pantograph selection position, pantograph raising instruction, pantograph lowering instruction, forward / backward direction, traction handle gear, brake handle gear, driver's cab key position, vehicle mode (washing, high acceleration, ATO), manual neutral section passing, operation mode (emergency traction, return journey, manual driving, battery traction), door opening and closing instructions, etc. The performance analysis device analyzes the motion protocol data and transmits the corresponding data to the corresponding performance simulation model for performance simulation. The performance analysis device feeds back the traction force, speed, energy consumption, converter temperature value, inverter temperature value, transformer temperature value, all door states, and door locking conditions to the human-machine interaction interface of the scenario simulation device.

[0068] Build a 3D scene of a virtual rail vehicle. The user of the scene simulation device constructs a 3D scene of a virtual rail vehicle with the core research systems (traction system, vehicle door system) as the core. And establish a scene element model in the 3D scene of the virtual rail vehicle. The scene element model includes, but is not limited to, 3D models such as rail vehicle models, station models, vehicle exterior models, human-computer interaction models, and line models. Render the scene element model to form a virtual operating environment of the rail vehicle with the core research system as the focus. Among them, the rendering process includes, but is not limited to, methods such as texturing, lighting settings, and rendering baking. In this virtual operating environment of the rail vehicle, the operation scenario of the digital train system can be simulated. The human-computer interaction module includes a human-computer interaction interface, on which the system operation scenario is displayed. The human-computer interaction module is used to obtain the externally input system operation scenario through the human-computer interaction interface, so that the requirement analysis device calls the system requirement model according to the system operation scenario, the scene simulation device calls the 3D scene of the virtual rail vehicle according to the system operation scenario, and the performance analysis device calls the performance simulation model according to the system operation scenario for simulation, and displays the simulation results through the human-computer interaction interface.

[0069] The final digital train and joint simulation system architecture based on multi-model fusion with the traction system and the vehicle door system as the core research systems is as Figure 8 shown. The scene simulation device calls the corresponding 3D scene of the virtual rail vehicle according to the system operation scenario number of the requirement analysis device and starts the joint simulation. The human-computer interaction interface reasonably combines the pre-displayed system operation scenarios according to the system operation scenario number defined by the requirement analysis device, and orderly calls the 3D scene of the virtual rail vehicle in the scene simulation device. According to the parameter sequence defined by the system operation scenario, send relevant parameters or instructions to the performance analysis device and the requirement analysis device through the operation protocol data. Under the same system operation scenario, the requirement analysis device runs the functional logic simulation, and the performance analysis device verifies the performance of the core research system, jointly realizing the joint simulation of the preset scenario of the digital train. At the same time, the performance analysis device feeds back the execution results and status of the performance simulation to the requirement analysis device and the scene simulation device, and the scene simulation device will display the device status and posture, forming a visual operation scenario test of the digital train.

[0070] In this application, unless otherwise clearly specified and limited, the terms "installation", "connection", "connection", "fixation" and other terms should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection, an electrical connection or can communicate with each other; it can be directly connected, or indirectly connected through an intermediate medium, and can be the communication inside two components or the interaction relationship between two components. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific situations.

[0071] Although the preferred embodiments of the present application have been described, those skilled in the art can make additional changes and modifications once they learn the basic creative concept. Therefore, the appended claims are intended to be construed to include the preferred embodiments as well as all changes and modifications falling within the scope of the present application.

[0072] Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalent technologies, the present application is also intended to include these modifications and variations.

Claims

1. A digital train and a joint simulation method, characterized in that: The method comprises: Obtain user requirements, define system operation scenarios based on user requirements, perform system structure analysis based on system operation scenarios, establish system requirement models, generate scenario protocol data based on system operation scenarios, and generate interaction protocol data based on system requirement models; Parsing the scenario protocol data, establishing a virtual rail vehicle three-dimensional scene corresponding to the scenario protocol data, simulating a digital train system operation scene in the virtual rail vehicle three-dimensional scene and generating operation protocol data; The interactive protocol data is parsed, a performance simulation model of each component of the system is established according to the interactive protocol data, the performance of each component of the system is simulated according to the performance simulation model and the operation protocol data to generate simulation results, and the simulation results and process parameters in the simulation process are converted into motion protocol data and fed back to the process of simulating the operation scenario of the digital train system.

2. The method according to claim 1, characterized in that The process of obtaining user requirements and defining system operation scenarios according to the user requirements includes: Obtain user needs and establish system operation scenarios; The system operation scenarios are refined and decomposed according to the types of the system operation scenarios, and the refined and decomposed system operation scenarios are numbered.

3. The method according to claim 2, characterized in that The process of performing system structure analysis based on the system operation scenario and establishing a system requirement model includes: Acquire core research systems and external systems based on user needs; Decompose the requirements of the core research system in each system operation scenario and define functional use cases focusing on the core research system; Draw an activity diagram, perform functional logic analysis based on the activity diagram, decompose the structure of the core research system and the external system according to the functional logic analysis results, and generate system interaction parameters between the core research system and the external system; The static structure and dynamic behavior of each part of the decomposed core research system and external system are modeled through the system interaction parameters to establish a system demand model.

4. The method according to claim 3, characterized in that The process of parsing the scene protocol data, establishing a virtual rail vehicle three-dimensional scene corresponding to the scene protocol data, and simulating a digital train system operation scene in the virtual rail vehicle three-dimensional scene includes: Parsing the scenario protocol data, constructing a virtual rail vehicle three-dimensional scene with the core research system as the core, and establishing a scenario element model in the virtual rail vehicle three-dimensional scene; Rendering the scene element model to generate a rail vehicle virtual operating environment focusing on the core research system; A digital train system operation scenario is simulated in the rail vehicle virtual operation environment.

5. The method according to claim 4, characterized in that The process of parsing the interactive protocol data, establishing a performance simulation model of each component of the system according to the interactive protocol data, and simulating the performance of each component of the system according to the performance simulation model and the operation protocol data to generate a simulation result includes: Parsing the interactive protocol data to obtain the core research system and the decomposed structures of each part of the core research system; Establishing a performance simulation model for each component structure after decomposition of the core research system; defining kinematic relationships and converting the performance simulation model into a multi-body dynamics model; Set the step size according to the real-time requirements of different structures and encapsulate the multi-body dynamics model of each structure; The performance of each component of the system is simulated according to the multi-body dynamics model and the operation protocol data to generate simulation results.

6. The method according to claim 5, characterized in that The method further comprises: Configuring a human-computer interaction interface, wherein the human-computer interaction interface displays a system operation scenario; Obtaining a system operation scenario from external input via the human-computer interaction interface; The system requirement model, the virtual rail vehicle three-dimensional scene and the performance simulation model are called to perform simulation according to the system operation scenario, and the simulation results are displayed through the human-computer interaction interface.

7. A digital train and joint simulation system, characterized in that: The system comprises: A demand analysis device, used to obtain user needs, define system operation scenarios according to user needs, perform system structure analysis according to the system operation scenarios, establish a system demand model, generate scenario protocol data according to the system operation scenarios, and generate interaction protocol data according to the system demand model; A scene simulation device, used to parse the scene protocol data, establish a virtual rail vehicle three-dimensional scene corresponding to the scene protocol data, simulate the digital train system operation scene in the virtual rail vehicle three-dimensional scene and generate operation protocol data; A performance analysis device is used to parse the interactive protocol data, establish a performance simulation model of each component of the system according to the interactive protocol data, simulate the performance of each component of the system according to the performance simulation model and the operation protocol data to generate simulation results, and convert the simulation results and process parameters in the simulation process into motion protocol data and feed them back to the scene simulation device in the process of simulating the operation scene of the digital train system.

8. The system according to claim 7, characterized in that The demand analysis device comprises: A scenario definition module is used to obtain user requirements, establish system operation scenarios, refine and decompose the system operation scenarios according to their types, and number the refined and decomposed system operation scenarios; The system requirement decomposition module is used to obtain the core research system and the external system according to user requirements, perform the requirement decomposition of the core research system in each system operation scenario, define the functional use cases focusing on the core research system, draw the activity diagram, perform the functional logic analysis according to the activity diagram, decompose the structure of the core research system and the external system according to the functional logic analysis results, generate the system interaction parameters between the core research system and the external system, model the static structure and dynamic behavior of each part of the decomposed core research system and the external system through the system interaction parameters, and establish the system requirement model; The data interaction module is used to generate scenario protocol data according to the system operation scenario and send it to the scenario simulation device, and to generate interaction protocol data according to the system requirement model and send it to the performance analysis device.

9. The system according to claim 8, characterized in that The scene simulation device is also used to parse the scene protocol data, construct a virtual rail vehicle three-dimensional scene with the core research system as the core, establish a scene element model in the virtual rail vehicle three-dimensional scene, render the scene element model to generate a rail vehicle virtual operating environment with the core research system as the focus, and simulate the digital train system operating scene in the rail vehicle virtual operating environment.

10. The system according to claim 9, characterized in that The performance analysis device is also used to parse the interactive protocol data, obtain the core research system and the various partial structures of the core research system after decomposition, establish a performance simulation model for the various partial structures of the core research system after decomposition, define the motion relationship, convert the performance simulation model into a multi-body dynamics model, set the step size according to the real-time requirements of different structures, encapsulate the multi-body dynamics model of each partial structure, and simulate the performance of each component of the system according to the multi-body dynamics model and the operation protocol data to generate simulation results.

11. The system according to claim 10, characterized in that The scenario simulation device also includes a human-computer interaction module, which includes a human-computer interaction interface. The human-computer interaction interface displays a system operation scenario. The human-computer interaction module is used to obtain an externally input system operation scenario through the human-computer interaction interface, so that the demand analysis device calls the system demand model according to the system operation scenario, the scenario simulation device calls the virtual rail vehicle three-dimensional scene according to the system operation scenario, and the performance analysis device calls the performance simulation model according to the system operation scenario for simulation, and the simulation results are displayed through the human-computer interaction interface.

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