Control method, device, equipment, medium and product of distributed simulation system

Abstract

The application relates to a control method, device, equipment, medium and product of a distributed simulation system. The method comprises the following steps: receiving a simulation time interval sent by a stateless forwarding server; the simulation time interval is sent by a second physical simulation subsystem to the stateless forwarding server after performing a physical field simulation calculation; the first physical simulation subsystem and the second physical simulation subsystem are respectively used for different physical field simulations; the simulation frequencies of the physical field simulations are different; accumulating the simulation time interval to obtain an external simulation time length; calculating a time deviation based on the external simulation time length, and controlling a simulation speed of the first physical simulation subsystem when the time deviation meets a constraint condition between the first physical simulation subsystem and the second physical simulation subsystem. The method can ensure real-time performance and accuracy.

Description

Technical Field

[0001] This application relates to the field of computer simulation technology, and in particular to a control method, apparatus, equipment, medium and product for a distributed simulation system. Background Technology

[0002] With the continuous development of computer technology, multiphysics coupling simulation has become an important tool in modern engineering design and scientific research. Multiphysics coupling simulation refers to the joint solution of multiple interacting physical fields (such as mechanical fields, flow fields, temperature fields, electromagnetic fields, etc.) in the same simulation environment, so as to more realistically reflect the multiphysics coupling behavior of complex systems.

[0003] To achieve coordinated operation among subsystems in distributed multiphysics coupled simulations, related technologies typically employ centralized time management or fixed synchronization mechanisms. For example, by setting a central node to uniformly manage the time progression of each subsystem, or by pre-setting a uniform time step or fixed synchronization period, each subsystem synchronizes at a specified time, thereby ensuring time consistency during the simulation. This method can, to a certain extent, achieve data coordination and time alignment between subsystems.

[0004] However, the aforementioned existing technologies typically rely on a central node or fixed synchronization mechanism to coordinate the operation progress of each subsystem. This results in the system needing to frequently wait and synchronize during operation, which can easily cause faster subsystems to be limited by slower subsystems, thereby reducing the overall simulation efficiency and making it difficult to meet the real-time and high-efficiency requirements of distributed multiphysics coupled simulation. Summary of the Invention

[0005] Therefore, it is necessary to provide a control method, device, computer equipment, computer-readable storage medium, and computer program product for a distributed simulation system that can improve real-time performance in response to the above-mentioned technical problems.

[0006] Firstly, this application provides a control method for a distributed simulation system, including:

[0007] The simulation time interval is received from the stateless forwarding server; the simulation time interval is sent to the stateless forwarding server by the second physical simulation subsystem after performing physical field simulation calculations; the first physical simulation subsystem and the second physical simulation subsystem are used for different physical field simulations; the simulation frequency of each physical field simulation is different;

[0008] The simulation time intervals are accumulated to obtain the external simulation duration;

[0009] The time deviation is calculated based on the external simulation duration, and the simulation speed of the first physical simulation subsystem is controlled when the time deviation meets the constraint conditions between the first physical simulation subsystem and the second physical simulation subsystem.

[0010] In one embodiment, the step of calculating the time deviation based on the external simulation duration, and controlling the simulation speed of the first physical simulation subsystem when the time deviation satisfies the constraints between the first physical simulation subsystem and the second physical simulation subsystem, includes:

[0011] The time deviation is obtained by subtracting the external simulation time from the local simulation time.

[0012] Read the pre-configured control parameters, and determine the constraints between the system and the second physical simulation subsystem based on the control parameters;

[0013] When the time deviation satisfies the constraint conditions between the second physical simulation subsystem and the first physical simulation subsystem, the simulation speed of the first physical simulation subsystem is controlled.

[0014] In one embodiment, controlling the simulation speed of the first physical simulation subsystem includes:

[0015] Obtain the simulation accuracy information of the second physical simulation subsystem;

[0016] Based on the time deviation and the simulation accuracy information, determine the adjustment direction and adjustment range of the simulation speed;

[0017] A simulation speed adjustment command is generated based on the adjustment direction and the adjustment amplitude, and the simulation speed of the first physical simulation subsystem is controlled based on the simulation speed adjustment command.

[0018] In one embodiment, controlling the simulation speed of the first physical simulation subsystem includes:

[0019] Obtain the simulation accuracy information of the second physical simulation subsystem;

[0020] Based on the time deviation, the constraints, and the simulation accuracy information, a target function for simulation speed adjustment is constructed.

[0021] Based on the objective function, the adjustment direction and adjustment range of the simulation speed are solved to obtain candidate adjustment results;

[0022] The candidate adjustment results are corrected according to the physical constraints to obtain the target adjustment command, and the simulation speed of the first physical simulation subsystem is controlled according to the target adjustment command.

[0023] In one embodiment, the method further includes:

[0024] The degree of influence of the time deviation on the coupled calculation results is determined based on the time deviation and the simulation step size of the second physical simulation subsystem.

[0025] When the degree of influence indicates that the collaborative computation between the various physical simulation subsystems is affected, it is determined that the time deviation satisfies the constraint condition between the second physical simulation subsystem.

[0026] In one embodiment, the method further includes:

[0027] Receive multiple simulation time intervals sent by a stateless forwarding server; each simulation time interval is sent by a different physical simulation subsystem;

[0028] Based on the coupling relationship between the first physical simulation subsystem and each of the physical simulation subsystems, the simulation time intervals are fused to obtain a reference simulation time interval;

[0029] The reference simulation time interval is sent to each of the physical simulation subsystems; the physical simulation subsystems adjust according to the reference simulation time interval.

[0030] The step of accumulating the simulation time intervals to obtain the external simulation duration includes:

[0031] The external simulation duration is obtained by accumulating the reference simulation time intervals.

[0032] Secondly, this application also provides a control device for a distributed simulation system, the device comprising:

[0033] The first receiving module is used to receive the simulation time interval sent by the stateless forwarding server; the simulation time interval is sent to the stateless forwarding server by the second physical simulation subsystem after performing physical field simulation calculations; the first physical simulation subsystem and the second physical simulation subsystem are used for different physical field simulations; the simulation frequency of each physical field simulation is different;

[0034] An accumulation module is used to accumulate the simulation time intervals to obtain the external simulation duration;

[0035] The control module is used to calculate the time deviation based on the external simulation duration, and control the simulation speed of the first physical simulation subsystem when the time deviation meets the constraint conditions between the first physical simulation subsystem and the second physical simulation subsystem.

[0036] Thirdly, this application also provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps of the method in any of the above embodiments.

[0037] Fourthly, this application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the method in any of the above embodiments.

[0038] Fifthly, this application also provides a computer program product, including a computer program that, when executed by a processor, implements the steps of the methods in any of the above embodiments.

[0039] The control methods, devices, equipment, media, and products of the aforementioned distributed simulation system allow each physical field simulation subsystem to operate at its own independent frequency and forward simulation time intervals via a stateless forwarding server. The first physical simulation subsystem can accumulate the external simulation duration based on the received simulation time intervals, calculate the time deviation based on the external simulation duration, and control the simulation speed of the first physical simulation subsystem when the time deviation meets the constraints between the first and second physical simulation subsystems. In this way, each physical simulation subsystem does not rely on a unified global clock or fixed synchronization mechanism, but rather adaptively adjusts by sensing each other's time progression status. This allows the distributed simulation system to maintain system time consistency and data accuracy to the maximum extent while ensuring real-time performance. Attached Figure Description

[0040] To more clearly illustrate the technical solutions in the embodiments of this application or related technologies, the drawings used in the description of the embodiments of this application or related technologies will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0041] Figure 1 This is an application environment diagram of the control method of a distributed simulation system in one embodiment;

[0042] Figure 2 This is a flowchart illustrating the control method of a distributed simulation system in one embodiment;

[0043] Figure 3 This is a schematic diagram of a distributed simulation system in an exemplary embodiment;

[0044] Figure 4 This is a structural block diagram of the control device of a distributed simulation system in one embodiment.

[0045] Figure 5 This is an internal structural diagram of a computer device in one embodiment. Detailed Implementation

[0046] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0047] The control method for the distributed simulation system provided in this application embodiment can be applied to, for example... Figure 1 The application environment shown. Figure 1 The system includes a stateless forwarding server 102, a first physical simulation subsystem 104, and a second physical simulation subsystem 106. The stateless forwarding server 102, the first physical simulation subsystem 104, and the second physical simulation subsystem 106 communicate with each other. The first physical simulation subsystem 104 and the second physical simulation subsystem 106 are used for different physical field simulations; for example, the first physical simulation subsystem 104 is used for mechanical field simulation, and the second physical simulation subsystem is used for fluid field simulation. Optionally, the second physical simulation subsystem 106 may include other physical simulation subsystems, each used for different physical field simulations.

[0048] In one exemplary embodiment, such as Figure 2 As shown, a control method for a distributed simulation system is provided, which is then applied to... Figure 1 The first physical simulation subsystem 104 in the example is used for illustration, including the following steps 202 to 206. Wherein:

[0049] Step 202: Receive the simulation time interval sent by the stateless forwarding server; the simulation time interval is sent to the stateless forwarding server by the second physical simulation subsystem after performing physical field simulation calculations; the first physical simulation subsystem and the second physical simulation subsystem are used for different physical field simulations; the simulation frequency of each physical field simulation is different.

[0050] In a distributed simulation system, each physical simulation subsystem performs different physical field simulation calculations. Because the physical processes corresponding to each physical simulation subsystem are different, their time progression characteristics vary, such as simulation step size or simulation frequency. This leads to inconsistencies in time progression among the various physical simulation subsystems during the simulation process, which in turn affects the accuracy and stability of multiphysics coupling calculations.

[0051] Therefore, the second physical simulation system needs to send the simulation time interval to the stateless forwarding server after performing the physical field simulation. The stateless forwarding server then sends the simulation time interval to the first physical simulation subsystem. The first physical simulation subsystem dynamically adjusts its own simulation speed through the simulation time interval, so that each physical simulation subsystem can maintain its own independent simulation rhythm while autonomously adjusting its simulation speed by sensing each other's time progress status, thus achieving overall simulation time coordination and consistency.

[0052] The simulation time interval refers to the difference between the current simulation time of the physical simulation subsystem and the simulation time when the last message was sent. For example, after the second physical simulation subsystem completes the current physical field simulation, it calculates the difference between the current simulation time and the simulation time interval sent to the stateless forwarding server last time, and sends the difference as the current simulation time interval to the stateless forwarding server.

[0053] Among them, a stateless server refers to a server node that does not save the historical simulation state information of each physical simulation subsystem during the forwarding of simulation data, nor does it participate in the specific physical field simulation calculation. It only forwards the received simulation time interval or simulation data.

[0054] Optionally, when the second physical simulation subsystem sends a message to the stateless forwarding server, it writes the simulation time interval into the message. The message includes a message header and a message body.

[0055] The message header carries metadata information related to message routing, sorting, and identification, serving as the basis for the stateless forwarding server to forward data. The message header may include: sender client identifier, receiver client identifier, message sequence number, and message timestamp. Specifically, the sender client identifier indicates the message source so the receiver can identify the corresponding physical simulation subsystem; the receiver client identifier indicates the target receiving object so the stateless forwarding server can route and forward data based on this identifier; the receiver client identifier can also support broadcast or multicast methods; the message sequence number ensures messages are processed in the order they were sent and is used to detect duplicate messages; the message timestamp records the message creation time to support network latency analysis or system debugging. The message body carries simulation data and control information, including the simulation time interval and physical field data. Simulation time interval (… The simulation time interval is used to represent the amount of simulation time progress between the last message sent and the current message sent by the sender's physical simulation subsystem. This simulation time interval is only related to the internal simulation process of the sender and is independent of network transmission delay or receiver processing speed. Physical field data is used to represent the simulation results of the corresponding physical field, such as the position, velocity, and attitude information of a rigid body, the velocity and pressure fields of a fluid, or the distribution information of the temperature field, etc.

[0056] Step 204: Accumulate the simulation time intervals to obtain the external simulation duration.

[0057] Wherein, external simulation duration refers to: the externally elapsed simulation time obtained from the sender's perspective after accumulating the received simulation time intervals. The external simulation duration is used to characterize the progress of the simulation time of the second physical simulation subsystem relative to the first physical simulation subsystem.

[0058] Specifically, since the first physical simulation subsystem cannot directly obtain the internal simulation clock of the second physical simulation subsystem, it obtains the simulation time interval sent by the second physical simulation subsystem. ), and continuously accumulate the simulation time intervals to reconstruct an external simulation time reflecting the time progression of the second physical simulation subsystem on the side of the first physical simulation subsystem, i.e., the external simulation duration ( ).

[0059] By using the external simulation duration, the first physical simulation subsystem can perceive the time evolution of the external physical simulation process from its own perspective, and perform time deviation calculation and subsequent simulation speed adjustment based on the difference between the external simulation duration and its own local simulation time.

[0060] Optionally, when the second physical simulation subsystem comprises multiple physical simulation subsystems, the first physical simulation subsystem accumulates the data for each of the different physical simulation subsystems to obtain multiple corresponding external simulation durations. This approach is suitable for scenarios where the coupling between the physical simulation subsystems is low or the time progression characteristics differ significantly. For example, the data interaction frequency between fluid field simulation and thermal field simulation is low. In this case, the first physical simulation subsystem can independently calculate and adjust the time deviation based on the external simulation durations of different physical fields, thereby improving the system's flexibility.

[0061] Optionally, when the second physical simulation subsystem includes multiple physical simulation subsystems, the simulation time intervals of the multiple physical simulation subsystems can be uniformly accumulated within the first physical simulation subsystem to obtain a unified external simulation duration. This method is suitable for scenarios where the coupling between physical simulation subsystems is high or strict time consistency needs to be maintained. For example, in fluid-structure interaction simulations, there is a strong coupling relationship between the fluid field and the structural field. In this case, by uniformly accumulating the external simulation duration, a consistent time reference can be provided for each physical simulation subsystem, thereby ensuring the stability and consistency of the coupled calculation.

[0062] Step 206: Calculate the time deviation based on the external simulation duration, and control the simulation speed of the first physical simulation subsystem when the time deviation meets the constraint conditions between the first physical simulation subsystem and the second physical simulation subsystem.

[0063] Optionally, the constraints between the first and second physical simulation subsystems are used to characterize the time coordination requirements and coupling accuracy requirements during the collaborative computation process. Specifically, the constraints can be determined jointly by time synchronization requirements, simulation accuracy requirements, and coupling interaction requirements.

[0064] In distributed multiphysics coupled simulations, a suitable time deviation does not immediately affect the coupled calculation results. However, when the time deviation increases further and affects the collaborative calculation between the various physical simulation subsystems, failure to adjust will lead to the failure of coupled data or the accumulation of calculation errors. Therefore, the simulation speed of the first physical simulation subsystem is only controlled when the time deviation meets the constraint condition, i.e., when it affects the collaborative calculation.

[0065] Optionally, when controlling the simulation speed of the first physical simulation subsystem, the simulation speed can be adjusted according to the direction of the time deviation. When the local simulation time of the first physical simulation subsystem is ahead of the external simulation time, the simulation speed of the first physical simulation subsystem is reduced; when the local simulation time of the first physical simulation subsystem is behind the external simulation time, the simulation speed of the first physical simulation subsystem is increased, thereby gradually bringing the time progression of each physical simulation subsystem into a more consistent manner.

[0066] Furthermore, the simulation speed of the first physical simulation subsystem can be controlled by at least one of the following methods: adjusting the simulation step size ( Adjust the calculation frequency and solver parameters (such as convergence tolerance and maximum number of iterations).

[0067] In the above embodiments, each physics simulation subsystem operates at its own independent frequency and forwards simulation time intervals through a stateless forwarding server. The first physics simulation subsystem can accumulate the external simulation duration based on the received simulation time intervals, calculate the time deviation based on the external simulation duration, and control the simulation speed of the first physics simulation subsystem when the time deviation meets the constraints between the first and second physics simulation subsystems. In this way, each physics simulation subsystem does not need to rely on a unified global clock or fixed synchronization mechanism, but rather adaptively adjusts by sensing each other's time progression status. This allows the distributed simulation system to maintain system time consistency and data accuracy to the maximum extent while ensuring real-time performance.

[0068] In one embodiment, the above-mentioned calculation of time deviation based on external simulation duration, and control of the simulation speed of the first physical simulation subsystem when the time deviation meets the constraint conditions between the first physical simulation subsystem and the second physical simulation subsystem, includes: subtracting the external simulation duration from the local simulation time to obtain the time deviation; reading pre-configured control parameters, determining the constraint conditions between the first and second physical simulation subsystems based on the control parameters; and controlling the simulation speed of the first physical simulation subsystem when the time deviation meets the constraint conditions.

[0069] Local simulation time refers to the simulation time of each physical simulation subsystem within its internal simulation process, based on its own simulation step size or simulation frequency. Since each physical simulation subsystem performs different physical field simulation calculations, their computational complexity, time step size, and solution methods differ; therefore, the local simulation time progression rate of each physical simulation subsystem is usually different.

[0070] In this embodiment, since the first physical simulation subsystem cannot directly obtain the internal simulation time state of the second physical simulation subsystem, the external simulation duration is compared with the local simulation time to reflect the time difference between the two, and the time deviation is obtained by subtracting the external simulation duration from the local simulation time.

[0071] Optionally, control parameters are pre-set in each physical simulation subsystem, and each physical simulation subsystem controls its own simulation behavior through the control parameters of the first physical simulation subsystem. Furthermore, the control parameters of the first physical simulation subsystem can be used to determine the time synchronization requirements, data interaction frequency, and simulation accuracy level between the first and second physical simulation subsystems, thereby determining the constraints between them.

[0072] Optionally, when the time deviation meets the constraints of the first physical simulation subsystem, it indicates that the current time deviation has already affected the collaborative calculation between the first and second physical simulation subsystems. If no adjustment is made, it may lead to inconsistent coupled data or accumulation of calculation errors. Therefore, the simulation speed of the first physical simulation subsystem is controlled and its simulation speed is adjusted according to the time deviation of the first physical simulation subsystem so that the time progression of the first and second physical simulation subsystems gradually becomes consistent, thereby improving the calculation accuracy of the distributed simulation system.

[0073] In the above embodiments, the time deviation of the first physical simulation subsystem relative to the second physical simulation subsystem is obtained by subtracting the external simulation time from the local simulation time. Simultaneously, constraints between the first and second physical simulation subsystems are determined through control parameters. This allows for adjustment of the simulation speed of the first physical simulation subsystem when its time deviation affects collaborative computation. Furthermore, by comparing the time deviation with the constraints, each physical simulation subsystem can adaptively adjust based on their respective time differences, ensuring independent operation of each subsystem while achieving overall consistency in simulation time.

[0074] In one embodiment, controlling the simulation speed of the first physical simulation subsystem includes: acquiring simulation accuracy information of the second physical simulation subsystem; determining the adjustment direction and adjustment range of the simulation speed based on the time deviation and the simulation accuracy information; generating a simulation speed adjustment command based on the adjustment direction and adjustment range; and controlling the simulation speed of the first physical simulation subsystem based on the simulation speed adjustment command.

[0075] In multiphysics coupled simulation, the simulation accuracy of different physical simulation subsystems affects the reliability of the coupled calculation results. When the simulation accuracy of the second physical simulation subsystem is higher than that of the first physical simulation subsystem, time alignment can be performed based on the second physical simulation subsystem. That is, the time progression state of the second physical simulation subsystem or its corresponding external simulation duration is used as a reference benchmark, so that the physical simulation subsystems remain consistent in the time dimension.

[0076] Optionally, the direction of simulation speed adjustment can be determined based on the time deviation, and the adjustment magnitude can be determined based on the simulation accuracy information. For example, the sign of the time deviation can represent the leading or lagging state of the first physical simulation subsystem relative to the second physical simulation subsystem, thereby determining whether it is acceleration or deceleration. For example, the adjustment magnitude can be determined based on the difference between the simulation accuracy information of the first physical simulation subsystem and the simulation accuracy information of the second physical subsystem. For instance, the difference can be matched with a preset magnitude mapping relationship to determine the corresponding adjustment magnitude.

[0077] For example, when the local simulation time of the first physical simulation subsystem is ahead of the external simulation time of the second physical simulation subsystem, it indicates that the simulation progress of the first physical simulation subsystem is faster than that of the second physical simulation subsystem, and the corresponding adjustment direction is deceleration. Furthermore, the current adjustment magnitude is determined based on the difference between the simulation accuracy information of the first and second physical simulation subsystems and a preset magnitude mapping relationship.

[0078] Then, a corresponding simulation speed adjustment command is generated based on the adjustment direction and adjustment range, and the simulation speed of the first physical simulation subsystem is controlled according to the simulation speed adjustment command.

[0079] Optionally, the simulation speed adjustment command includes control operations on the simulation speed, such as acceleration, deceleration, pause, and waiting. The specific operation type can be determined based on the adjustment direction, and the corresponding adjustment degree can be determined based on the adjustment range.

[0080] Thus, since time deviation can accurately reflect the time difference between each physical simulation subsystem, and simulation accuracy information can characterize the reliability of simulation results, simulation speed adjustment commands can be generated more accurately based on time deviation and simulation accuracy information.

[0081] In one embodiment, controlling the simulation speed of the first physical simulation subsystem includes: acquiring simulation accuracy information of the second physical simulation subsystem; constructing a target function for adjusting the simulation speed based on time deviation, constraints, and simulation accuracy information; solving for the adjustment direction and adjustment range of the simulation speed based on the target function to obtain candidate adjustment results; correcting the candidate adjustment results according to physical constraints to obtain a target adjustment command; and controlling the simulation speed of the first physical simulation subsystem according to the target adjustment command.

[0082] Optionally, the optimization objective could be to reduce the time deviation between the first physical simulation subsystem and the second physical simulation subsystem, while satisfying the constraints, and to reduce the impact of the adjustment process on the stability and accuracy of the coupled calculation.

[0083] Optionally, an objective function can be constructed based on time deviation, constraints, simulation accuracy information, and the initial model. The initial model refers to an adjustment model used to describe the relationship between simulation speed and time deviation, such as a predictive model used to characterize the impact of changes in simulation speed on changes in time deviation.

[0084] After obtaining the objective function, it is evaluated under different combinations of adjustment directions and amplitudes to determine what makes the objective function satisfy the optimization objective. This allows for the solution of the adjustment direction and amplitude of the simulation speed, yielding candidate adjustment results. Since the candidate adjustment results are mainly based on the optimization objective and may not fully meet the constraints of the actual system operation, further correction of the candidate adjustment results is necessary in conjunction with physical constraints.

[0085] Optionally, physical constraints can be used to correct the candidate adjustment results. For example, when the adjustment range corresponding to the candidate adjustment result exceeds the adjustment range allowed by the current physical simulation, the adjustment range is corrected to obtain the target adjustment command, and the simulation speed of the first physical simulation subsystem is controlled according to the target adjustment command.

[0086] For example, the distributed simulation system in this application can be applied to a robot system. The robot system may include a first physical simulation subsystem for simulating the motion of mechanical structures and a second physical simulation subsystem for simulating the thermal characteristics of motors. When the candidate adjustment result obtained by the first physical simulation subsystem based on the objective function is to increase the current simulation speed to a first adjustment range, but the current constraints indicate that the temperature field of the second physical simulation subsystem is in a rapidly changing phase, and its output temperature data needs to participate in the thermal-structural coupling calculation in the mechanical structure simulation at fixed time intervals, then the first physical simulation subsystem cannot directly adopt the first adjustment range. Acceleration is necessary; otherwise, the temperature data used in the mechanical structure simulation will not match the actual thermal changes, thus affecting the accuracy of the coupled calculation results. In this case, the candidate adjustment results can be corrected based on constraints; for example, the first adjustment range can be adjusted. Revised to the second adjustment range (in ).

[0087] In the above embodiments, by establishing an objective function and modifying the candidate adjustment results in conjunction with constraints, the target adjustment command can be accurately obtained while ensuring system operation constraints.

[0088] In one embodiment, the method further includes: determining the degree of influence of the time deviation on the coupled calculation results based on the time deviation and the simulation step size of the second physical simulation subsystem; when the degree of influence indicates that the collaborative calculation between the physical simulation subsystems is affected, determining that the time deviation meets the constraint conditions between the second physical simulation subsystem.

[0089] Optionally, the degree of influence of the time deviation on the coupled calculation results can be determined based on the relative relationship between the time deviation and the simulation step size of the second physical simulation subsystem. For example, the time deviation can be normalized with respect to the simulation step size, such as mapping the time deviation to a deviation ratio relative to the simulation step size.

[0090] When the deviation ratio corresponding to the time deviation exceeds the preset range, it indicates that there is a significant time difference between the data currently used by the first physical simulation subsystem and the latest calculation results of the second physical simulation subsystem. This may cause the physical quantities used in the coupled calculation process to be inconsistent with the actual state, thereby affecting the accuracy of the calculation results.

[0091] In addition, since the simulation step size of different physical simulation subsystems may be different, it is difficult to accurately reflect its actual impact on the coupled calculation results based solely on the absolute size of the time deviation. Therefore, in this embodiment, the time deviation is evaluated from the perspective of relative calculation rhythm in conjunction with the simulation step size, so as to more accurately determine its degree of impact on the coupled calculation results.

[0092] For example, when the degree of impact indicates that the data between the various physical simulation subsystems cannot be effectively aligned in time, it means that the collaborative computing has been affected. At this time, it is determined that the time deviation meets the constraint conditions between the second physical simulation subsystem.

[0093] In the above embodiments, by combining the time deviation with the simulation step size, the bias caused by judging solely based on the absolute time difference can be avoided, making the evaluation of the time deviation more in line with the actual calculation rhythm of each physical simulation subsystem, thereby improving the stability of the distributed simulation system and the accuracy of coupled calculation.

[0094] In one embodiment, the second physical simulation subsystem includes multiple physical simulation subsystems; the method further includes: receiving multiple simulation time intervals sent by a stateless forwarding server; each simulation time interval is sent by a different physical simulation subsystem; fusing the simulation time intervals according to the coupling relationship between the first physical simulation subsystem and each physical simulation subsystem to obtain a reference simulation time interval; sending the reference simulation time interval to each physical simulation subsystem; the physical simulation subsystem adjusting according to the reference simulation time interval; and accumulating the simulation time intervals to obtain the external simulation duration, including: accumulating the reference simulation time intervals to obtain the external simulation duration.

[0095] Optionally, when the first physical simulation subsystem receives simulation time intervals sent by multiple physical simulation subsystems simultaneously, the multiple simulation time intervals can be fused according to the coupling relationship between the first physical simulation subsystem and each physical simulation subsystem to obtain a reference simulation time interval.

[0096] For example, each simulation time interval can be assigned a corresponding weight based on the coupling strength between each physical simulation subsystem and the first physical simulation subsystem. Multiple simulation time intervals can then be weighted and fused based on these weights to obtain a reference simulation time interval. The simulation time intervals of physical simulation subsystems with higher coupling degrees have larger weights, thus enabling the reference simulation time interval to preferentially reflect physical changes that have a greater impact on the current simulation process.

[0097] Furthermore, the weights can be dynamically adjusted based on the simulation step size, time response characteristics, or current computational state of each physical simulation subsystem. For example, physical simulation subsystems with smaller simulation step sizes have higher time resolution, and their corresponding simulation time intervals account for a higher proportion in the fusion process; or when the computational results of a certain physical simulation subsystem are not yet stable, the weight of its corresponding simulation time interval can be appropriately reduced to avoid unstable data affecting the overall time coordination, thereby improving the reliability of the fusion results.

[0098] Optionally, after obtaining the reference simulation time interval, the first physical simulation subsystem uses the reference simulation time interval as a unified external time increment and cumulatively updates the external simulation duration based on the reference simulation time interval. Specifically, the reference simulation time interval can be superimposed on the original external simulation duration to obtain the updated external simulation duration, and subsequent time deviation calculations and simulation speed adjustment control can be performed based on the difference between this external simulation duration and the local simulation time.

[0099] In one exemplary embodiment, combined with Figure 3 As shown. Figure 3 The first physical simulation subsystem is a rigid body simulation client, and the second physical simulation subsystem includes multiple physical simulation subsystems, namely a fluid simulation client, a thermodynamic simulation client, and an electromagnetic simulation client. It should be noted that the division in this embodiment is merely an example. In practical applications, any physical simulation subsystem can serve as the first physical simulation subsystem, while the remaining physical simulation subsystems participate in collaborative computation as the second physical simulation subsystem. This application does not impose any limitations on this.

[0100] First, the distributed simulation system initializes. Specifically, the stateless forwarding server starts and listens for connection requests on a preset network address and port. After each physical simulation subsystem starts, it sends a registration request message to the stateless forwarding server to establish a communication connection. Subsequently, each physical simulation subsystem establishes a data subscription and publication relationship according to its local configuration, and the stateless forwarding server realizes the data forwarding path between different physical simulation subsystems. After the subscription relationship is established, the system performs an initial simulation time synchronization operation. The preset master control client sends the initial simulation time to each physical simulation subsystem to ensure that the local simulation time of each physical simulation subsystem is consistent.

[0101] During system operation, each physical simulation subsystem independently performs physical field simulation calculations at its own simulation frequency. After completing a simulation calculation, it generates corresponding physical field data and calculates the difference between the current simulation time and the simulation time when data was sent last, obtaining the simulation time interval. Then, each physical simulation subsystem sends a message containing the simulation time interval and physical field data to the stateless forwarding server, which forwards it to the corresponding receiving physical simulation subsystem according to the subscription relationship.

[0102] Subsequently, the first physical simulation subsystem receives the simulation time interval from the second physical simulation subsystem and accumulates the simulation time interval to obtain the external simulation duration. Based on the difference between the external simulation duration and the local simulation time, the first physical simulation subsystem performs time deviation calculation and adaptively adjusts its own simulation speed according to the time deviation, thereby achieving time coordination between the various physical simulation subsystems without the need for global forced synchronization.

[0103] Through the above process, each physical simulation subsystem, while independently performing simulation calculations, adjusts its local simulation progress based on the simulation time information of other physical simulation subsystems, thereby achieving time coordination control in a distributed environment and ensuring that the system as a whole maintains a consistent operating speed.

[0104] It should be understood that although the steps in the flowcharts of the embodiments described above are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the embodiments described above may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0105] Based on the same inventive concept, this application also provides a control device for a distributed simulation system to implement the control method of the distributed simulation system described above. The solution provided by this device is similar to the solution described in the above method; therefore, the specific limitations in one or more embodiments of the control device for a distributed simulation system provided below can be found in the limitations of the control method for the distributed simulation system described above, and will not be repeated here.

[0106] In one exemplary embodiment, such as Figure 4As shown, a control device for a distributed simulation system is provided, comprising: a first receiving module 100, an accumulation module 200, and a control module 300, wherein:

[0107] The first receiving module 100 is used to receive the simulation time interval sent by the stateless forwarding server. The simulation time interval is sent to the stateless forwarding server by the second physical simulation subsystem after performing physical field simulation calculations. The first physical simulation subsystem and the second physical simulation subsystem are used for different physical field simulations. The simulation frequency of each physical field simulation is different.

[0108] The accumulation module 200 is used to accumulate the simulation time interval to obtain the external simulation duration.

[0109] The control module 300 is used to calculate the time deviation based on the external simulation duration, and to control the simulation speed of the first physical simulation subsystem when the time deviation meets the constraint conditions between the first physical simulation subsystem and the second physical simulation subsystem.

[0110] In one embodiment, the control module 300 includes:

[0111] The difference calculation unit is used to calculate the time deviation by subtracting the external simulation duration from the local simulation time.

[0112] The condition determination unit is used to read pre-configured control parameters and determine the constraint conditions between the system and the second physical simulation subsystem based on the control parameters.

[0113] The speed control unit is used to control the simulation speed of the first physical simulation subsystem when the time deviation meets the constraint conditions between the second physical simulation subsystem and the first physical simulation subsystem.

[0114] In one embodiment, the speed control unit includes:

[0115] The first precision acquisition subunit is used to acquire the simulation precision information of the second physical simulation subsystem.

[0116] The adjustment information subunit is used to determine the adjustment direction and adjustment range of the simulation speed based on the time deviation and simulation accuracy information.

[0117] The first adjustment subunit is used to generate simulation speed adjustment commands based on the adjustment direction and adjustment range, and to control the simulation speed of the first physical simulation subsystem based on the simulation speed adjustment commands.

[0118] In one embodiment, the speed control unit includes:

[0119] The second precision acquisition subunit acquires the simulation precision information of the second physical simulation subsystem;

[0120] The function constructs a sub-unit, which is used to construct the objective function for adjusting the simulation speed based on the time deviation, constraints, and simulation accuracy information.

[0121] The sub-element is used to solve for the adjustment direction and adjustment range of the simulation speed based on the objective function, and to obtain candidate adjustment results.

[0122] The correction subunit is used to correct the candidate adjustment results according to the physical bundle conditions, obtain the target adjustment command, and control the simulation speed of the first physical simulation subsystem according to the target adjustment command.

[0123] In one embodiment, the control module 300 further includes:

[0124] The influence calculation unit is used to determine the degree of influence of time deviation on the coupled calculation results based on the time deviation and the simulation step size of the second physical simulation subsystem.

[0125] The constraint judgment unit is used to determine whether the time deviation meets the constraint conditions between the second physical simulation subsystem when the degree of influence indicates that the collaborative calculation between the various physical simulation subsystems is affected.

[0126] In one embodiment, the above-mentioned apparatus further includes:

[0127] The second receiving module is used to receive multiple simulation time intervals sent by the stateless forwarding server; each simulation time interval is sent by a different physical simulation subsystem.

[0128] The interval calculation module is used to fuse the simulation time intervals based on the coupling relationship between the first physical simulation subsystem and each physical simulation subsystem to obtain the reference simulation time interval.

[0129] The fusion module is used to send the reference simulation time interval to each physical simulation subsystem; the physical simulation subsystem adjusts according to the reference simulation time interval.

[0130] In one embodiment, the aforementioned accumulation module 200 is further configured to accumulate the reference simulation time interval to obtain the external simulation duration.

[0131] The parameter calculation subunit is used to determine the time synchronization requirements, data interaction frequency, and simulation accuracy level between the first physical simulation subsystem and the second physical simulation subsystem based on the control parameters.

[0132] The constraint calculation subunit is used to generate constraints based on time synchronization requirements, data interaction frequency, and simulation accuracy level.

[0133] The modules in the control device of the aforementioned distributed simulation system can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in the processor of the computer device in hardware form or independent of it, or stored in the memory of the computer device in software form, so that the processor can call and execute the operations corresponding to each module.

[0134] In one exemplary embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be as follows: Figure 5 As shown, this computer device includes a processor, memory, input / output interfaces (I / O), and a communication interface. The processor, memory, and I / O interfaces are connected via a system bus, and the communication interface is also connected to the system bus via the I / O interfaces. The processor provides computational and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system, computer programs, and a database. The internal memory provides the environment for the operating system and computer programs stored in the non-volatile storage media. The database stores simulation result data. The I / O interfaces are used for exchanging information between the processor and external devices. The communication interface is used for communication with external terminals via a network connection. When the computer program is executed by the processor, it implements a control method for a distributed simulation system.

[0135] Those skilled in the art will understand that Figure 5 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0136] In one exemplary embodiment, a computer device is provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps of the method in any of the above embodiments.

[0137] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon, which, when executed by a processor, implements the steps of the method in any of the above embodiments.

[0138] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, implements the steps of the method in any of the above embodiments.

[0139] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, artificial intelligence (AI) processors, etc., and are not limited to these.

[0140] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this application.

[0141] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of protection of this application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these modifications and improvements all fall within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the appended claims.

Claims

1. A control method for a distributed simulation system, characterized in that, Applied to the first physical simulation subsystem; the method includes: The simulation time interval is received from the stateless forwarding server; the simulation time interval is sent to the stateless forwarding server by the second physical simulation subsystem after performing physical field simulation calculations; the first physical simulation subsystem and the second physical simulation subsystem are used for different physical field simulations; the simulation frequency of each physical field simulation is different; The simulation time intervals are accumulated to obtain the external simulation duration; The time deviation is calculated based on the external simulation duration, and the simulation speed of the first physical simulation subsystem is controlled when the time deviation meets the constraint conditions between the first physical simulation subsystem and the second physical simulation subsystem.

2. The method according to claim 1, characterized in that, The step of calculating the time deviation based on the external simulation duration, and controlling the simulation speed of the first physical simulation subsystem when the time deviation satisfies the constraints between the first physical simulation subsystem and the second physical simulation subsystem, includes: The time deviation is obtained by subtracting the external simulation time from the local simulation time. Read the pre-configured control parameters, and determine the constraints between the first physical simulation subsystem and the second physical simulation subsystem based on the control parameters; When the time deviation meets the constraint condition, the simulation speed of the first physical simulation subsystem is controlled.

3. The method according to claim 2, characterized in that, The control of the simulation speed of the first physical simulation subsystem includes: Obtain the simulation accuracy information of the second physical simulation subsystem; Based on the time deviation and the simulation accuracy information, determine the adjustment direction and adjustment range of the simulation speed; A simulation speed adjustment command is generated based on the adjustment direction and the adjustment amplitude, and the simulation speed of the first physical simulation subsystem is controlled based on the simulation speed adjustment command.

4. The method according to claim 2, characterized in that, The control of the simulation speed of the first physical simulation subsystem includes: Obtain the simulation accuracy information of the second physical simulation subsystem; Based on the time deviation, the constraints, and the simulation accuracy information, a target function for simulation speed adjustment is constructed. Based on the objective function, the adjustment direction and adjustment range of the simulation speed are solved to obtain candidate adjustment results; The candidate adjustment results are corrected according to the physical constraints to obtain the target adjustment command, and the simulation speed of the first physical simulation subsystem is controlled according to the target adjustment command.

5. The method according to claim 2, characterized in that, The method further includes: The degree of influence of the time deviation on the coupled calculation results is determined based on the time deviation and the simulation step size of the second physical simulation subsystem. When the degree of influence indicates that the collaborative computation between the various physical simulation subsystems is affected, it is determined that the time deviation satisfies the constraint condition between the second physical simulation subsystem.

6. The method according to claim 2, characterized in that, The second physical simulation subsystem includes multiple physical simulation subsystems; the method further includes: Receive multiple simulation time intervals sent by a stateless forwarding server; each simulation time interval is sent by a different physical simulation subsystem; Based on the coupling relationship between the first physical simulation subsystem and each of the physical simulation subsystems, the simulation time intervals are fused to obtain a reference simulation time interval; The reference simulation time interval is sent to each of the physical simulation subsystems; the physical simulation subsystems adjust according to the reference simulation time interval. The step of accumulating the simulation time intervals to obtain the external simulation duration includes: The external simulation duration is obtained by accumulating the reference simulation time intervals.

7. A control device for a distributed simulation system, characterized in that, Applied to the first physical simulation subsystem; the device includes: The first receiving module is used to receive the simulation time interval sent by the stateless forwarding server; the simulation time interval is sent to the stateless forwarding server by the second physical simulation subsystem after performing physical field simulation calculations; the first physical simulation subsystem and the second physical simulation subsystem are used for different physical field simulations; the simulation frequency of each physical field simulation is different; An accumulation module is used to accumulate the simulation time intervals to obtain the external simulation duration; The control module is used to calculate the time deviation based on the external simulation duration, and control the simulation speed of the first physical simulation subsystem when the time deviation meets the constraint conditions between the first physical simulation subsystem and the second physical simulation subsystem.

8. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 6.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 6.

10. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 6.

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