CN102289552B - Combined test system and method adopting material object devices and mathematical models - Google Patents
Combined test system and method adopting material object devices and mathematical models Download PDFInfo
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Abstract
一种实物设备与数学模型进行联合试验的系统由数学模型、模型包装器、实物设备、桥接器、可视化节点组成；数学模型经模型包装器通过通信中间件与其它模型和桥接器互连；各实物设备和实物设备代理通过实时共享内存网互连；桥接器由实物设备代理和时间管理模块组成；实物设备代理读取实物设备的物理时钟并传给时间管理模块；读取实物设备的数据并发送给订购此数据的其它数学模型的包装器，由包装器调用模型的接口传递给模型。模型包装器和实物设备代理将需要可视化的数据通过可视化接口发送给可视化节点。本发明解决了试验系统中实物设备与数学模型的交互问题，以及数学模型与数学模型和实物设备与数学模型的集成方法与推进问题。
A system for joint testing of physical equipment and mathematical models is composed of mathematical models, model wrappers, physical equipment, bridges, and visualization nodes; the mathematical models are interconnected with other models and bridges through model wrappers and communication middleware; The physical device and the physical device agent are interconnected through a real-time shared memory network; the bridge is composed of the physical device agent and the time management module; the physical device agent reads the physical clock of the physical device and transmits it to the time management module; reads the data of the physical device and Wrapper sent to other math models ordering this data, passed to the model by the wrapper calling the model's interface. The model wrapper and physical device agent send the data that needs to be visualized to the visualization node through the visualization interface. The invention solves the interactive problem of physical equipment and mathematical model in the test system, and the integration method and promotion problem of mathematical model and mathematical model, physical equipment and mathematical model.
Description
Technical field
The present invention relates to a kind of equipment in kind and mathematical model carried out system and its implementation of Combined Trials, belong to the virtual experiment technology field.
Background technology
Along with politics, the restriction of economic dispatch factor and the needs of military developments, in the national defense industry field, the research of carrying out virtual experiment technology becomes more and more important.Virtual test is to utilize the microcomputer modelling emulation technology to combine measuring technology, the communication technology and computer networking technology, for performance test, the technical indicator of weaponry are examined, a kind of test new technology of synthetic effectiveness evaluation exploitation.Virtual test just develops towards " actual situation combination " and the direction of " comprehensive integration ".Equipment in kind and mathematical model integrated carry out the effective means that Combined Trials has become " actual situation combines " in the virtual test at present.The High Level Architecture that U.S. Department of Defense proposes (High Level Architecture is called for short HLA) standard has well solved the integration problem between " void " model (mathematical model) in the virtual test.And HLA is short of aspect real-time to some extent, can not satisfy the real-time demand of matter emulation or HWIL simulation.Real-Time Sharing internal memory net can solve this problem, well satisfies the real-time demand.
People's such as Qin Daguo " a kind of distributed simulation based on two bridges is striden the agreement interconnecting method " (system emulation journal) solved the interconnection and interflow problem of distributed interactive simulation (Distributed Interactive Simulation is called for short DIS) and HLA.But DIS and HLA can not well satisfy the real-time demand.Yuan Dan " research and the realization of network system expansion in the distributed real-time emulation " (flood is science and technology all) has solved the problem of SBS and VMIC interconnection and interflow.Though SBS and VMIC are well positioned to meet the real-time demand, its extensibility and interoperability are not as good as HLA.The present invention links to each other equipment in kind or half equipment in kind through Real-Time Sharing internal memory net (reflective memory net); Carry out each mathematical model integrated through HLA; Again virtual test is built in Real-Time Sharing internal memory net and HLA interconnection and carried out Combined Trials.The present invention can satisfy the real-time demand of material object or HWIL simulation, has reusability, extensibility and interoperability again.
Summary of the invention
Technical matters to be solved by this invention: the deficiency that overcomes prior art; A kind of system and its implementation of equipment in kind and mathematical model being carried out Combined Trials is provided; This System and method for has solved the interaction problems of equipment in kind and mathematical model in the pilot system, and the integrated approach and the propelling problem of mathematical model and mathematical model and equipment in kind and mathematical model.
Technical scheme of the present invention: a kind of equipment in kind and mathematical model Combined Trials system, each mathematical model that will have unified interface based on the model wrapper of HLA/RTI is integrated; Bridge is communicated with equipment in kind and is responsible for the real-time time propelling of whole test with each mathematical model.Characteristic based on the Combined Trials system and method for equipment in kind and mathematical model comprises:
Mathematical model, equipment in kind, model wrapper, bridge and visual node; Wherein:
Said each mathematical model has unified interface;
It is integrated that said model wrapper will have each mathematical model of unified interface: the model wrapper joins in the federation as a federal member; Announce the information that mathematical model need be exported; Order the information that mathematical model need be imported, the interface of recursive call mathematical model transmits the data of mathematical model; The service interface that calls the RTI net simultaneously carries out the data forwarding of mathematical model alternately to the online wrapper corresponding with other mathematical model of RTI;
Said bridge is made up of proxy for equipment module in kind and time management module; The proxy for equipment module in kind and the model wrapper of bridge interconnect equipment in kind and mathematical model: the proxy for equipment module in kind of bridge joins in the federation of whole test as federal member; Announce the information that equipment in kind need be exported; And reading the device data in kind on the Real-Time Sharing internal memory net (VMIC), the service interface through the RTI net sends to the online and mathematical model of RTI with data to carry out alternately;
The time management module of said bridge is introduced priority query the time in the test is managed: the physical time of the time of whole test according to equipment in kind advances; When each model wrapper advances; The clock that the time for reading administration module sends; If the time reaches the time that model is asked, the interface that the model wrapper is called mathematical model advances, and pushes away after the further completion next step request time of mathematical model is sent to the time management module; The time management module reads the phy clock of equipment in kind and is stored in the system time formation, and the request time of each mathematical model that will receive simultaneously is stored in the Request Priority formation; During time management module transmitting time, read phy clock, and judge whether request time is arranged in the priority query, if having then when system time is advanced to this time point, this request time is sent to each mathematical model;
Said model wrapper and bridge utilize visualization interface that test figure is sent to visual node to show: announce corresponding object class and interactive class when the proxy for equipment module in kind of model wrapper and bridge starts, visual node is ordered corresponding object class and interactive class; Model wrapper and proxy for equipment module in kind will need visual data to send to visual node with the form of object class and interactive class respectively during operation, and visual node utilization two dimension or three-dimensional visualization technique show.
The present invention's beneficial effect compared with prior art:
(1) has " actual situation combination " ability.Equipment in kind and mathematical model can be carried out Combined Trials, have solved the interconnection and interflow problem of equipment in kind and mathematical model.Equipment in kind can verify in virtual environment that virtual mathematical model can be carried out alternately to verify the correctness of mathematical model with equipment in kind.
(2) through based on the model wrapper of HLA/RTI that mathematical model is integrated, each model all adds test with federal member through the packing of model wrapper, and total system is with good expansibility.
(3) each mathematical model adopts unified interface to write, and the model of writing adds test through general model wrapper packing back, and different tests can repeatedly utilize same mathematical model, and mathematical model has reusability preferably.
(4) pass through Real-Time Sharing internal memory net with apparatus interconnection in kind, can guarantee the real-time that matter emulation or HWIL simulation are required.The time of system advances the phy clock according to equipment in kind to advance, and makes Combined Trials possess real-time.
Description of drawings
Fig. 1 is that system of the present invention forms structured flowchart;
Fig. 2 is that model wrapper of the present invention realizes figure;
Fig. 3 is that proxy for equipment module in kind of the present invention realizes figure;
Fig. 4 is that the data read module in the proxy for equipment module in kind of the present invention is realized figure;
Fig. 5 is that the emulation module in the proxy for equipment module in kind of the present invention is realized figure;
Fig. 6 is that time management module of the present invention realizes figure;
Fig. 7 is realization flow figure of the present invention.
Embodiment
As shown in Figure 1, system of the present invention is made up of mathematical model, model wrapper, equipment in kind, bridge, visual node etc.Each mathematical model interconnects through communication middleware (native system adopt be the realization RTI of HLA standard) and other model and bridge through the model wrapper.Each equipment in kind and proxy for equipment in kind are through the interconnection of Real-Time Sharing internal memory net, and what Real-Time Sharing internal memory net of the present invention adopted is VMIC reflective memory net.Equipment in kind and mathematical model are through the bridge interconnection.Bridge is made up of proxy for equipment in kind and time management module.Proxy for equipment in kind reads the phy clock of equipment in kind and passes to the time management module; Read the data of equipment in kind and send to the wrapper of other mathematical model of ordering these data, the interface that is called model by wrapper passes to model.Model wrapper and proxy for equipment in kind need visual data send to visual node through visualization interface.Visualization interface is based on some object class and the interactive class of HLA.
Mathematical model among the present invention is write according to unified interface.Unified model interface comprises 5, can carry out initialization to model; The incident of input, time and data; The Debugging message that output model need be exported etc.Concrete interface definition is (wherein IN and OUT represent parameter type, and IN represents input parameter, and OUT represents output parameter, and IN and OUT are parameter name at the back) as follows:
(1) initialization interface InitModel (IN initFile): model is carried out initialization, can specify initialization files initFile to model, model reads initialization files model is carried out initial setting up.
(2) receive event interface Receivelnteraction (IN t, IN interaction): the incident that input model receives, parametric t are the time point when receiving incident, and interaction is the event data of receiving.
(3) send event interface Sendlnteraction (IN t, OUT interaction): the incident that output model will be exported, the time point when parametric t is the transmission incident, interaction are the event data that model will be exported.
(4) advance interface GoStep (IN&&OUT t, IN inObjs, OUT outObj): model pushes away further; Parametric t is input parameter before interface is called; Import the time point when advancing into, call the back and be output parameter, be worth for next asks the time point that advances constantly; InObjs is other model data (can be the data of a model, also can be the data of a plurality of models) that model needs; OutObj is the output data of this model.
(5) check Debugging message interface DebugMessage (OUT message): call this interface can output model inner output information, can check the internal operation situation and the debugging model of model, message is the output information of model.
Model wrapper among the present invention is packed above-mentioned mathematical model with unified interface, calls each interface of model and is responsible for the information transmission of model and other model through the service interface of communication middleware, and its implementation is as shown in Figure 2.At first analytic model prefer file, the essential information that obtains model comprises: model name, model initialization files, the announcement order relations of the path of model file and model and other model.Path stress model dynamic link library according to model calls initialization interface InitModel initial model, calls the service interface (being the HLA service interface) of RTI net and creates federation, adds federal.Prefer the information announcement and corresponding object class of order and interactive class, registry object instance that obtains according to parsing.The time that wrapper is sent the time management module is used queue stores; Whether free judge in the formation earlier when whether judgement time advances; If have then whether the application time of comparison model matees with the current propelling time; If mate then whether judgment models receives that (incident of model realizes with the interactive class of communication middleware for the incident of other model; When model was received the interactive class of other model transmission, middleware can call the call back function notice), give model if there is the interactive class input to call reception event interface Receivelnteraction with the interactive class data transfer.Next call and advance interface GoStep to let Model Calculation push ahead, and return next request time point and model through this interface and push away the output data after further.And request time is sent to the time management module through the HLA service interface, the output data of model is sent to other model and visual node.Then call model transmission event interface Sendlnteraction judgement and have or not interactive class output, interactive class is sent to other model if having then call the RTI service interface.Call to call behind each interface of model and check that Debugging message interface DebugMessage checks the Debugging message of model output.Judge at last whether test finishes,, then continue judgement time and advance if do not finish; If finish, then withdraw from and destroy federation.
Bridge of the present invention is made up of proxy for equipment in kind and time management module.The data that proxy for equipment in kind is responsible for transmitting equipment in kind are to mathematical model, and it is made up of data read module and emulation module, and data read module reads the data of equipment in kind; Emulation module is gone out the data forwarding that reads.Proxy for equipment implementation in kind is as shown in Figure 3; At first resolve and prefer equipment in kind and the relation of other model and the essential information of whole test that file obtains acting on behalf of; Then create federation, add federation, announce and order corresponding object class and interactive class; Send the initialization interactive class and give visual node, then log-on data read module and emulation module.
In order to improve concurrent ability, data read module is an independent thread.The implementation of data read module is as shown in Figure 4.Thread is opened the VMIC plate earlier and plate is carried out initialization after starting.
Next the poll zone bit checks whether equipment in kind has new data, if having then reading of data and store the zone bit of resetting simultaneously.The data that read are divided into two types, and one type is the phy clock of equipment in kind, the another kind of real time data that is physical equipment at each time point.Adopt two data structures to store during data read module storage data.Phy clock adopts queue stores to be called the system time formation, and the The data index stores of each time point is convenient to emulation module is obtained equipment in kind with the constant time when the time advances data like this.
The implementation of emulation module is as shown in Figure 5.If federation does not exist then creates federally during beginning, then add federally, send the initialization interactive class for visual node, let the three-dimensional visualization node accomplish initial work.The time management module judges whether to advance, if advance then the new data of from index, getting equipment in kind sends to other model and visual node.The real time data that detects equipment in kind has judged whether that incident sends, if having then send interactive class and give other model and send the performance interactive class and give the three-dimensional visualization node by its display effect; Judge at last whether test finishes,, destroy federal if finish then withdraw from federation.
The time request that each model wrapper is sent is collected in the system time formation of time management module reading of data read module, and each time point is stored in is called request queue in the priority query.Judge whether that the flow process that advances is as shown in Figure 6.Judge that at first whether request queue is empty,,, show that then equipment in kind begins to advance and each mathematical model has begun request time if be empty if for sky then judge whether the system time formation is empty.Follow extraction system time and request time, request time is to be stored in the priority query, can guarantee that so each request time that takes out is a minimum value, and the time advances the minimum step according to each model to advance.Whether sent before judging this request time point, if send, then the request time formation goes out team.Whether do not judge system time more than or equal to request time if send, if then advance the current request time point.If request queue then advances current system time point for the formation of sky system time is not empty.
Visualization interface is the set of some object class and interactive class.The emulation module of model wrapper and proxy for equipment in kind is announced these object class and interactive class, and the three-dimensional visualization node is ordered these object class and interactive class.The data message of mathematical model and equipment in kind such as coordinate and attitude information etc. are transferred to visual node through RTI with the form of object class; The event information of mathematical model and equipment in kind is as separating and information such as blast is transferred to visual node through RTI with the form of interactive class.As required, can define a plurality of object class, the attribute of each object class can be self-defined, but need consistent with the object class of visual node definition.Interactive class only defines one, and for general, the parameter of interactive class only is provided with one, and during the RTI transmission, concrete transmission content (as comprising event type and the data relevant with incident) is transmitted through this parameter.
Total system implementation of the present invention is as shown in Figure 7, and visual node starts during beginning, and the node of each deployment model wrapper and proxy for equipment in kind starts.Proxy for equipment in kind and model wrapper send the initialization interactive class for visual node, and each entity of visual node initializing is waited for on-test.After equipment in kind comes into operation, physical time and real time data are write Real-Time Sharing internal memory net.The data read module time for reading of proxy for equipment in kind and the data of equipment are carried out buffer memory.The time management module reads the physical time of buffer memory, stores with priority query to the request time of each model wrapper transmitting time and reception feedback, simultaneously simulation time is sent to visual node.Proxy for equipment in kind sends to the model wrapper with the real time data of material object, and each interface of each model wrapper recursive call mathematical model advances, and device data in kind is passed to each model, and the output data that obtains model is transferred to other model again.Request time with model sends to the time management device simultaneously.In this process, proxy for equipment in kind and model wrapper will visual data and effect send to visual node through visualization interface, visual node carries out 3-D display.Iteration like this is with the time of equipment in kind and the operation of data-driven whole test, up to off-test.
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| CN103514337B (en) * | 2013-10-25 | 2016-09-14 | 北京经纬恒润科技有限公司 | A kind of analogue system and method |
| CN103713940B (en) * | 2013-12-24 | 2017-02-01 | 四川川大智胜软件股份有限公司 | Method for reconfigurable distributed real-time simulation based on RTX-HLA reflection storage card |
| CN106844822B (en) * | 2016-11-15 | 2020-09-18 | 北京宇航系统工程研究所 | Carrier rocket semi-physical simulation method supporting rapid virtual-real interchange |
| US10618137B2 (en) * | 2017-03-24 | 2020-04-14 | National Cheng Kung University | Automated constructing method of cloud manufacturing service and cloud manufacturing system |
| CN109088905B (en) * | 2017-06-14 | 2021-04-30 | 浙江贵仁信息科技股份有限公司 | Mathematical model service system based on cloud computing and mathematical model management method |
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| CN109542067A (en) * | 2018-12-04 | 2019-03-29 | 天津大学 | Multivariable structural test real-time control system and method based on shared drive |
| CN114442505A (en) * | 2020-11-03 | 2022-05-06 | 中国兵器科学研究院 | Virtual and real battlefield space-time synchronization system |
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