实时半实物仿真平台关键技术研究与实现
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摘要
实时半实物仿真平台是半实物仿真的核心。建模方便、实时性好、满足不同用户需求是实时半实物仿真平台追求的目标。YHSIM仿真平台在国内实时半实物仿真领域得到了广泛的应用,但YHSIM仿真语言建模无法满足用户图形化建模需求;另外,基于多核并行技术可有效提高系统实时性,但现有的实时半实物仿真平台往往难以有效发挥多核的优势。为此,对实时半实物仿真平台几个关键技术进行研究,能提高仿真建模效率及系统实时性,为研制新一代实时半实物仿真平台打下基础。
论文针对实时半实物仿真特点,在综合分析现有实时仿真平台基础上,对实时半实物仿真平台几个关键技术进行了深入的分析和研究。主要工作和创新包括:
1.针对半实物仿真图形化建模的需求,提出了基于RTX的支持YHSIM仿真语言建模和Simulink图形化建模的平台结构,该结构将两种建模与仿真程序结合在一起,通过共享内存实现Windows环境和RTX环境的交互,并且支持模型重用,提高了仿真应用的开发效率,为仿真程序实时运行提供了保障。
2.论文针对目前实时半实物仿真平台往往难以有效发挥多核优势的问题,在对多线程技术研究进行的基础上,将仿真程序划分为实时进程及非实时进程并分别进行多线程改造,设计了同步机制,从而很好的实现仿真程序的并行运行。
3.实时仿真程序通过IPC共享内存来实现实时进程与非实时进程间的数据交换。论文针对建立足够大的共享内存区浪费系统资源和影响系统性能的问题,在对基于IPC共享内存数据交互技术进行研究的基础上,提出了采用环形内存块进行数据共享的方案,并给出了共享内存块数的计算方法。采用该方法能获得较理想的共享内存块数,并可以保证进程间数据交换的正确性,减少了系统资源的浪费,提高了系统的性能。
4.仿真回路中的实物是半实物仿真系统的重要组成部分。论文针对已有基于RTX的实时半实物仿真平台难以满足I/O接口图形化建模需求的问题,在分析RTX驱动系统结构的基础上,提出了基于RTX的I/O接口实时驱动程序开发方法,并基于Simulink提供的S-函数编写了封装I/O接口模块的模版程序,为实时仿真平台提供了支持图形化建模的I/O接口模块。
在上述基础上,设计实现了一个实时半实物仿真平台的原型系统,该系统不仅支持YHSIM仿真语言建模,而且支持Simulink图形化建模,实时性好,该系统已经得到了成功应用。
Real-time semi-physical simulation platform is the core of the semi-physical simulation. Modeling convenience, good real-time performance, to meet different user needs has always been the goals that real-time semi-physical simulation platform pursuit. YH-AStar Simulation Workstation has been widely used in the domestic real-time semi-physical simulation field, but YHSIM simulation language modeling can not satisfy graphical modeling of the user needs; in addition, multi-core-based parallel technology can improve real-time performance ,and most semi-physical simulation platform at present is often difficult to effectively play to the advantages of multi-core. To this end, the research of key technologies of real-time semi-physical simulation platform can improve the efficiency of simulation modeling and real-time performance of the systems, in order to develop a new generation real-time semi-physical simulation platform for basis.
According to the characteristics of real-time semi-physical simulation, the key technologies of the real-time semi-physical simulation platform are discussed thoroughly in the paper based on the relevant Real-time semi-physical simulation platform. Major work and innovation include:
1. According to the semi-physical simulation needs of graphical modeling, The thesis proposes a platform structure based on RTX which support YHSIM simulation language modeling and Simulink graphical modeling, the structure get two ways of modeling and simulation program together, through the shared memory to achieve Windows environment and the RTX environment interaction, and supports model reuse, improve the efficiency of the simulation application, also, real-time simulation program has provided a guarantee.
2. According to the problem of most semi-physical simulation platform for real-time is often difficult to effectively play to the advantages of multi-core, the simulation program will be divided into real-time processes and non-real-time process and separate multi-threaded transformation based on multi-threading technology in the research, and also designed synchronization mechanism so as to achieve a good simulation program run in parallel.
3. Real-time simulation program through the IPC shared memory to achieve data exchange between real-time and non-real time processes. According to establishment of a shared memory area large enough to waste system resources and impact of system performance problems, based on IPC shared memory data exchange technology on the basis of the study, the paper introduces a scheme of circular block of memory for data sharing, and gives the arithmetic for the number of shared memory block. Using this method can get ideal shared memory blocks, and can guarantee the accuracy of data exchange between processes to reduce the waste of system resources, then finally improve system performance.
4. Hardware is an important part of hardware-in-the-loop simulation system. According to the problem of the real-time semi-physical simulation platform based on RTX is difficult to meet the graphical modeling needs of the I/O interface, a real-time Driver Development Method of I/O interface based on RTX's is proposed under the analysis of RTX drive system, Simulink provides the preparation of packaging I/O interface module template procedures for real-time simulation platform provides support for graphical modeling of the I/O interface module.
Based on the above designs and implements a prototype system for a real-time semi-physical simulation platform which not only support the YHSIM simulation language modeling, but also supports Simulink graphical modeling, the system has been successfully applied.
论文针对实时半实物仿真特点,在综合分析现有实时仿真平台基础上,对实时半实物仿真平台几个关键技术进行了深入的分析和研究。主要工作和创新包括:
1.针对半实物仿真图形化建模的需求,提出了基于RTX的支持YHSIM仿真语言建模和Simulink图形化建模的平台结构,该结构将两种建模与仿真程序结合在一起,通过共享内存实现Windows环境和RTX环境的交互,并且支持模型重用,提高了仿真应用的开发效率,为仿真程序实时运行提供了保障。
2.论文针对目前实时半实物仿真平台往往难以有效发挥多核优势的问题,在对多线程技术研究进行的基础上,将仿真程序划分为实时进程及非实时进程并分别进行多线程改造,设计了同步机制,从而很好的实现仿真程序的并行运行。
3.实时仿真程序通过IPC共享内存来实现实时进程与非实时进程间的数据交换。论文针对建立足够大的共享内存区浪费系统资源和影响系统性能的问题,在对基于IPC共享内存数据交互技术进行研究的基础上,提出了采用环形内存块进行数据共享的方案,并给出了共享内存块数的计算方法。采用该方法能获得较理想的共享内存块数,并可以保证进程间数据交换的正确性,减少了系统资源的浪费,提高了系统的性能。
4.仿真回路中的实物是半实物仿真系统的重要组成部分。论文针对已有基于RTX的实时半实物仿真平台难以满足I/O接口图形化建模需求的问题,在分析RTX驱动系统结构的基础上,提出了基于RTX的I/O接口实时驱动程序开发方法,并基于Simulink提供的S-函数编写了封装I/O接口模块的模版程序,为实时仿真平台提供了支持图形化建模的I/O接口模块。
在上述基础上,设计实现了一个实时半实物仿真平台的原型系统,该系统不仅支持YHSIM仿真语言建模,而且支持Simulink图形化建模,实时性好,该系统已经得到了成功应用。
Real-time semi-physical simulation platform is the core of the semi-physical simulation. Modeling convenience, good real-time performance, to meet different user needs has always been the goals that real-time semi-physical simulation platform pursuit. YH-AStar Simulation Workstation has been widely used in the domestic real-time semi-physical simulation field, but YHSIM simulation language modeling can not satisfy graphical modeling of the user needs; in addition, multi-core-based parallel technology can improve real-time performance ,and most semi-physical simulation platform at present is often difficult to effectively play to the advantages of multi-core. To this end, the research of key technologies of real-time semi-physical simulation platform can improve the efficiency of simulation modeling and real-time performance of the systems, in order to develop a new generation real-time semi-physical simulation platform for basis.
According to the characteristics of real-time semi-physical simulation, the key technologies of the real-time semi-physical simulation platform are discussed thoroughly in the paper based on the relevant Real-time semi-physical simulation platform. Major work and innovation include:
1. According to the semi-physical simulation needs of graphical modeling, The thesis proposes a platform structure based on RTX which support YHSIM simulation language modeling and Simulink graphical modeling, the structure get two ways of modeling and simulation program together, through the shared memory to achieve Windows environment and the RTX environment interaction, and supports model reuse, improve the efficiency of the simulation application, also, real-time simulation program has provided a guarantee.
2. According to the problem of most semi-physical simulation platform for real-time is often difficult to effectively play to the advantages of multi-core, the simulation program will be divided into real-time processes and non-real-time process and separate multi-threaded transformation based on multi-threading technology in the research, and also designed synchronization mechanism so as to achieve a good simulation program run in parallel.
3. Real-time simulation program through the IPC shared memory to achieve data exchange between real-time and non-real time processes. According to establishment of a shared memory area large enough to waste system resources and impact of system performance problems, based on IPC shared memory data exchange technology on the basis of the study, the paper introduces a scheme of circular block of memory for data sharing, and gives the arithmetic for the number of shared memory block. Using this method can get ideal shared memory blocks, and can guarantee the accuracy of data exchange between processes to reduce the waste of system resources, then finally improve system performance.
4. Hardware is an important part of hardware-in-the-loop simulation system. According to the problem of the real-time semi-physical simulation platform based on RTX is difficult to meet the graphical modeling needs of the I/O interface, a real-time Driver Development Method of I/O interface based on RTX's is proposed under the analysis of RTX drive system, Simulink provides the preparation of packaging I/O interface module template procedures for real-time simulation platform provides support for graphical modeling of the I/O interface module.
Based on the above designs and implements a prototype system for a real-time semi-physical simulation platform which not only support the YHSIM simulation language modeling, but also supports Simulink graphical modeling, the system has been successfully applied.
引文
[1] Shekoofa O, Taherbaneh M. Modelling of silicon solar panel by MATLAB/simulink and evaluating the importance of its parameters in a space application. 2007 3rd International Conference on Recent Advances in Space Technologies, 2007, 1-2:719-724.
[2] Palma Rafael Augusto, Fernandes Jose Manoel. Hardware-in-the-loop simulation - A methodology proposal. ISA EXPO 2005 Technical Conference - Technical Papers Collection, 2005:1064-1075.
[3] Chindris Gabriel, Muresan Marius. Deploying simulink models into system-on-chip structures. ISSE 2006-29th International Spring Seminar on Electronics Technology: Nano Technologies for Electronics Packaging, Conference Proceedings, 2006:313-317.
[4] Di Natale M, Pappalardo V. Buffer optimization in multitask implementations of simulink models. ACM Transactions on Embedded Computing Systems, 2008, 7(3)-23.
[5] Schwarz M. H., Sheng H., Sheleh A., Boercsoek J.. Matlab/Simulink generated source code for safety related systems. AICCSA 08 - 6th IEEE/ACS International Conference on Computer Systems and Applications, 2008:1058-1063.
[6] Lapusan C., Maties V., Balan R., Hancu O., Stan S., Lates R.. Rapid control prototyping using matlab and dSpace Application for a planar parallel robot. 2008 IEEE International Conference on Automation, Quality and Testing, Robotics, AQTR 2008 - THETA 16th Edition– Proceedings, 2008, 2: 361-364.
[7] The Math Works Inc. Real-Time Workshop for Use with Simulink, version 6. USA: The MathWorks Inc, 2004.
[8] Kong YaGuang, Wang WenHai. Design of real time control software based on QNX. IECON Proceedings, IECON 2006-32nd Annual Conference on IEEE Industrial Electronics, 2006:579-584.
[9] Harrington Daniel T., Bound James P., McCann John J., Thomas Matt. Internet protocol version 6 and the digital UNIX implementation experience, Digital Technical Journal. 1996, 8(3):5-22.
[10] Cardoza Wayne M., Glover Frederick S., Snaman William E. Jr.. Overview of digital UNIX cluster system architecture. Digest of Papers-COMPCON-IEEE Computer Society International Conference, 1996:254-259.
[11] Bilinskiy A. I., Melekh B. Ya.. Control of laser range-finder TLP-1M under RTLinux. Journal of Automation and Information Sciences, 2005, 37(4):19-22.
[12] Barbalace A., Luchetta A., Manduchi G., Moro M., Soppelsa A., Taliercio C.. Performance comparison of VxWorks, Linux, RTAI, and Xenomai in a hard real-time application. IEEE Transactions on Nuclear Science, 2008.2, 55(1):435-439.
[13] Dufour Christian, Abourida Simon, Belanger Jean. Hardware-in-the-loop simulation of power drives with RT-LAB. Proceedings of the International Conference on Power Electronics and Drive Systems, 2005, 2:1646-1651.
[14] De Vries R. H.. EuroSim Simulation Framework. European Space Agency, (Special Publication) ESA SP, 2003(523):31-40.
[15] Documentation for MathWorks Products, R2008b. http://www.mathworks.com.
[16] Cornea O, Popovici D, Argeseanu A. A switched reluctance motor drive model using standard Simulink library components. OPTIM 2008: Proceedings of the 11th International Conference on Optimization of Electrical and Electronic Equipment, 2008, 3:69-74.
[17] GE Fanuc Intelligent Platforms. http://www.gefanucembedded.com/products/.
[18] Bob Kilbride. Windows NT and Windows 2000 for real-time applications. EE Times-India, 2001.7:70-72.
[19] Ardence. RTX Help Documents. RTX7.1.0. Document Version 1.0, 2007.1.
[20] Krithi Ramamritham. Real-Time Database. University of Massachu setts, USA, 1993.
[21]陈春鹏,姚益平,蒋志文,时向泉.基于Windows NT开发实时半实物仿真的研究.计算机工程,2002, 28(12): 98~100.
[22]吴旭生.RTX在导弹制导系统仿真中的应用.09全国仿真技术学术会议论文集,2009, 1006-9348.
[23]邓华.Matlab通信仿真及应用实例详解.人民邮电出版社,2003.
[24]姚益平,蒋志文,鄢来斌,李刚.YH-AStar高新能实时仿真平台.2003全国仿真技术学术会议论文集,2003.
[25]黄晓明,张国忠,徐春梅.基于S函数的时变系统仿真.计算机仿真,2004.5, 21(5): 89-91.
[26]姚俊,马松辉.Simulink建模与仿真.西安电子科技大学出版社,2002.8.
[27]李兴玮,叶磊,黄柯棣.基于MATLAB/xPCTarget构建实时仿真系统.计算机仿真,2003(8):113-114,118.
[28]郑志波.基于MATLAB环境的实时仿真研究.武汉水利电力大学硕士学位论文,2000.
[29]黄柯棣等.系统仿真技术.国防科技大学出版社,1998.
[30] W Gary, Johnson Richard. Jenningsl Labview图形编程.北京大学出版社,2002.
[31]涂二生.实时操作系统伪实时性的研究.漳州师范学院学报(自然科学版) ,2005(4):44-49.
[32] Real-Time eXtensions for Windows北京美斯比科技有限公司.
[33]任传俊.基于MATLAB和RTX实时仿真研究与实现.国防科技大学硕士学位论文,2006.
[34]张李超,韩明,董炀斌等.Windows NT的实时性研究.计算机工程与应用,2002, 5:41-42.
[35]陈坤中,刘亚斌,李军等.Windows NT环境下的实时仿真技术研究及其应用.微计算机信息,2006, 22(7-1):239-241.
[36] David A Solomon. Windows NT技术内幕(第二版).清华大学出版社,1999.
[37]徐林,姚益平,蒋志文.基于RTX扩展的Windows 2000/XP系统实时性分析.系统仿真技术及其应用,2008.7, 10: 698-701.
[38]单勇,蒋志文.基于RTX的I/O接口驱动程序开发.09全国仿真技术学术会议论文集,2009, 1006-9348.
[39]孙成勇,孙凌,江金龙,周献中.实时仿真系统可信性验证.系统仿真学报,2005.5, 17(5): 1101-1103,1124.
[40]李洪敏.实时仿真系统研究.传感器与自动测控技术.兵工自动化,2002, 21(3): 56-57.
[41]北京美斯比科技有限公司.使用RTX增加Windows XP/2000/XP Embedded系统的硬实时特性.嵌入式应用,2004, 4:48-53.
[42]黄雪英,胡飞.基于RTX仿真平台下实时仿真数据库设计.科学技术与工程,2007.3, 7(5): 886-889.
[43]张惠娟等.Windows环境下的设备驱动程序设计.西安电子工业出版社,2002.
[44]刘晓川,王海涛等.RTX技术及其在实时仿真系统中的应用.舰船电子工程,2001年第6期.
[45]徐林.基于Simulink的一体化实时半实物仿真平台的研究与实现.国防科技大学硕士学位论文,2008.
[2] Palma Rafael Augusto, Fernandes Jose Manoel. Hardware-in-the-loop simulation - A methodology proposal. ISA EXPO 2005 Technical Conference - Technical Papers Collection, 2005:1064-1075.
[3] Chindris Gabriel, Muresan Marius. Deploying simulink models into system-on-chip structures. ISSE 2006-29th International Spring Seminar on Electronics Technology: Nano Technologies for Electronics Packaging, Conference Proceedings, 2006:313-317.
[4] Di Natale M, Pappalardo V. Buffer optimization in multitask implementations of simulink models. ACM Transactions on Embedded Computing Systems, 2008, 7(3)-23.
[5] Schwarz M. H., Sheng H., Sheleh A., Boercsoek J.. Matlab/Simulink generated source code for safety related systems. AICCSA 08 - 6th IEEE/ACS International Conference on Computer Systems and Applications, 2008:1058-1063.
[6] Lapusan C., Maties V., Balan R., Hancu O., Stan S., Lates R.. Rapid control prototyping using matlab and dSpace Application for a planar parallel robot. 2008 IEEE International Conference on Automation, Quality and Testing, Robotics, AQTR 2008 - THETA 16th Edition– Proceedings, 2008, 2: 361-364.
[7] The Math Works Inc. Real-Time Workshop for Use with Simulink, version 6. USA: The MathWorks Inc, 2004.
[8] Kong YaGuang, Wang WenHai. Design of real time control software based on QNX. IECON Proceedings, IECON 2006-32nd Annual Conference on IEEE Industrial Electronics, 2006:579-584.
[9] Harrington Daniel T., Bound James P., McCann John J., Thomas Matt. Internet protocol version 6 and the digital UNIX implementation experience, Digital Technical Journal. 1996, 8(3):5-22.
[10] Cardoza Wayne M., Glover Frederick S., Snaman William E. Jr.. Overview of digital UNIX cluster system architecture. Digest of Papers-COMPCON-IEEE Computer Society International Conference, 1996:254-259.
[11] Bilinskiy A. I., Melekh B. Ya.. Control of laser range-finder TLP-1M under RTLinux. Journal of Automation and Information Sciences, 2005, 37(4):19-22.
[12] Barbalace A., Luchetta A., Manduchi G., Moro M., Soppelsa A., Taliercio C.. Performance comparison of VxWorks, Linux, RTAI, and Xenomai in a hard real-time application. IEEE Transactions on Nuclear Science, 2008.2, 55(1):435-439.
[13] Dufour Christian, Abourida Simon, Belanger Jean. Hardware-in-the-loop simulation of power drives with RT-LAB. Proceedings of the International Conference on Power Electronics and Drive Systems, 2005, 2:1646-1651.
[14] De Vries R. H.. EuroSim Simulation Framework. European Space Agency, (Special Publication) ESA SP, 2003(523):31-40.
[15] Documentation for MathWorks Products, R2008b. http://www.mathworks.com.
[16] Cornea O, Popovici D, Argeseanu A. A switched reluctance motor drive model using standard Simulink library components. OPTIM 2008: Proceedings of the 11th International Conference on Optimization of Electrical and Electronic Equipment, 2008, 3:69-74.
[17] GE Fanuc Intelligent Platforms. http://www.gefanucembedded.com/products/.
[18] Bob Kilbride. Windows NT and Windows 2000 for real-time applications. EE Times-India, 2001.7:70-72.
[19] Ardence. RTX Help Documents. RTX7.1.0. Document Version 1.0, 2007.1.
[20] Krithi Ramamritham. Real-Time Database. University of Massachu setts, USA, 1993.
[21]陈春鹏,姚益平,蒋志文,时向泉.基于Windows NT开发实时半实物仿真的研究.计算机工程,2002, 28(12): 98~100.
[22]吴旭生.RTX在导弹制导系统仿真中的应用.09全国仿真技术学术会议论文集,2009, 1006-9348.
[23]邓华.Matlab通信仿真及应用实例详解.人民邮电出版社,2003.
[24]姚益平,蒋志文,鄢来斌,李刚.YH-AStar高新能实时仿真平台.2003全国仿真技术学术会议论文集,2003.
[25]黄晓明,张国忠,徐春梅.基于S函数的时变系统仿真.计算机仿真,2004.5, 21(5): 89-91.
[26]姚俊,马松辉.Simulink建模与仿真.西安电子科技大学出版社,2002.8.
[27]李兴玮,叶磊,黄柯棣.基于MATLAB/xPCTarget构建实时仿真系统.计算机仿真,2003(8):113-114,118.
[28]郑志波.基于MATLAB环境的实时仿真研究.武汉水利电力大学硕士学位论文,2000.
[29]黄柯棣等.系统仿真技术.国防科技大学出版社,1998.
[30] W Gary, Johnson Richard. Jenningsl Labview图形编程.北京大学出版社,2002.
[31]涂二生.实时操作系统伪实时性的研究.漳州师范学院学报(自然科学版) ,2005(4):44-49.
[32] Real-Time eXtensions for Windows北京美斯比科技有限公司.
[33]任传俊.基于MATLAB和RTX实时仿真研究与实现.国防科技大学硕士学位论文,2006.
[34]张李超,韩明,董炀斌等.Windows NT的实时性研究.计算机工程与应用,2002, 5:41-42.
[35]陈坤中,刘亚斌,李军等.Windows NT环境下的实时仿真技术研究及其应用.微计算机信息,2006, 22(7-1):239-241.
[36] David A Solomon. Windows NT技术内幕(第二版).清华大学出版社,1999.
[37]徐林,姚益平,蒋志文.基于RTX扩展的Windows 2000/XP系统实时性分析.系统仿真技术及其应用,2008.7, 10: 698-701.
[38]单勇,蒋志文.基于RTX的I/O接口驱动程序开发.09全国仿真技术学术会议论文集,2009, 1006-9348.
[39]孙成勇,孙凌,江金龙,周献中.实时仿真系统可信性验证.系统仿真学报,2005.5, 17(5): 1101-1103,1124.
[40]李洪敏.实时仿真系统研究.传感器与自动测控技术.兵工自动化,2002, 21(3): 56-57.
[41]北京美斯比科技有限公司.使用RTX增加Windows XP/2000/XP Embedded系统的硬实时特性.嵌入式应用,2004, 4:48-53.
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