多层次并行与分布实时仿真平台关键技术研究
|
摘要
随着实时仿真应用规模和性能需求的提高,满足高性能、大规模的实时仿真需求,提高平台的重用性、扩展性和标准化,成为实时仿真平台构建的关键问题,多层次并行分布实时仿真平台的研究正是在这一背景展开的。基于DSP (Digital Signal Processor)等硬件的实时仿真平台扩展,在计算稳定性、时间控制精度、高速数据通讯等方面,具有通用计算机不可比拟的优势,能够提供微秒级的实时仿真环境,满足信号级实时仿真的需求。本文在传统实时仿真平台研究的基础上,提出了实时仿真平台层次架构的设计思想,重点讨论了基于DSP实时仿真平台的扩展.
论文首先从并行分布实时仿真平台的约束关系入手,基于实时仿真应用需求,分析了衡量仿真平台的性能指标和信号级实时仿真应用的特点,在此基础上提出了层次化结构的设计思想,从平台的硬件组成、软件管理、模型特点等方面,将仿真平台分为：非实时层、弱实时层、强实时层和苛刻实时层,并重点分析了苛刻实时层的实现特点和硬件选型。
在仿真平台层次化架构研究的基础上,实现了基于DSP苛刻实时仿真层的设计与开发。设计与实现了基于单节点DSP的苛刻实时仿真层,并通过实验验证在计算稳定性、通讯实时性上,具有通用计算机不可比拟的优势。为实现苛刻实时仿真层的扩展,研究了通讯性能与多节点DSP苛刻实时仿真层性能间的关系,提出了苛刻实时层单板多节点多设计的基本原则,实现了基于三级存储结构的多节点苛刻实时仿真层设计,并以此提供了不同形式的扩展以及平台化的结构方案。
结合多层次PDRTS硬件平台的实现,为保证仿真平台的时间控制,论文研究了仿真平台尤其是苛刻实时仿真层的时间管理。在传统并行分布仿真平台时间管理的分析基础之上,针对苛刻实时仿真层,提出了基于GPS的PPS时钟信号和高精度时钟晶振信号相结合的仿真时钟控制机制,实现了局部偏差(Local Error)与全局偏差(Global Error)相互校正的时钟控制策略。基于硬件实现苛刻实时仿真层的时钟控制,提出了TTSU同步启动策略和QHCS同步控制策略,并从理论上分析了相应同步策略的性能。
接下来,在保证平台实时性能的基础上为提高执行效率,论文对仿真平台调度策略进行了研究。在仿真任务和平台形式化描述的基础上,首先研究了静态调度策略,针对遗传算法和交互优先调度策略的缺陷,论文根据多层次仿真平台的特点,提出了多层次等效负载(MLEL)调度策略,经实验证明该策略可以有效地减少任务聚集,提高仿真平台的整体性能。为弥补静态条件的获取误差,增加平台的容错能力,论文研究了动态调度策略,提出了基于任务复制策略,以消除状态冻结带来的任务执行延迟,设计了平台的整体调度策略,提出了静态调度与动态调度相结合的调度思想。
最后,论文介绍了仿真平台的整体设计与实现。在多层次实时仿真平台关键技术研究的基础上,设计并实现了多层次并行分布实时仿真平台的原型系统。通过XX突防系统仿真实例的应用,验证了仿真平台层次化的设计思想,展示了平台的可扩展性、可重用性以及可定制性。
As the scale and performance of the real-time simulation applications are increasing, the simulation environment, that is more powerful, and more cosmical, is needed. In the building of the real-time simulation platform, the reusability, expansibility and standardization are the important issues. Under the requirement, the Multi-Level Parallel and Distributed Real-Time(PDRT) simulaiton platform is researched. The development of the real-time simulation platform, based on the DSP(Digital Signal Processor), has more advantage than the general computer in computing stability, time managmeny precision and communication speed. The frame time that the platform can supply is a few microsecond, so it can satisfy with the requriment of signal simulation. Based on the research of the traditional simulation platform, we propose the four level architecture for the design of the simulation platform, and emphasize on the development of the platform based on DSP.
The dissertation first analyzes the restriction relationship of the real-time simulation platform. From view of the simulaiton platform development, the performance standard of the real-time simulation platform and the characteristic of signal real-time simulaiton are analyzed. Based on the analyse, the delamination idea for the design of the real-time simulation platform is proposed. Based the hardware, software and model, the platform is leveled with non-real-time level, soft real-time level, hard real-time level and rigorous real-time level, and especially analyzes the rigorous real-time level.
Based on the research of the level architecture, the regorous real-time simulation level is designed and developed using DSP. Firstly, the regorous real-time simulation level with one DSP is researched. Through the test, the advantage in computing stability and communication ability, comparing with the general computer, is proved. Furthermor, in order to improve the ability of the regorous real-time simulation level, the dissertation researches the relationship between the communication ability and the speedup of Multi-DSP. The basic principle is introduced for designing the regorous with Multi-DSP. In the end, the multi-DSP regorous real-time level, based on the three-level memory structure, is designed, and called Super Node(SN). Based on the SN, the different extended styles are introduced.
Then, based on the hardware of the platform, the dissertation discusses the Time Management to promise the control of the time, especially researches the time controlling in the regorous real-time level. In order to satisfy the time required, by analyzing the GPS clock error and combing the charateristics of the GPS-PPS signal with the high precision oscillator, strategy for correcting both error of the GPS-PPS and the oscillator is introduced. As the GPS-PPS is free from cumulative error, and the high precision crystal oscillator is free from random error, each error can be revised by each other. Using the high precision simulaiton clock, the Timer Synchronization Start-Up(TSSU) and the Quasi-Homologous Clock Synchronization(QHCS) are proposed to satisfy the time requirement in the regorous real-time level.
Following this, in order to improve the efficiency of the platform with satisfying the performance requirement, the dissertation researches scheduling strategy in multi-level PDRTS platform. Based on the description of formalization, the static scheduling strategy first is desibussed. By analyzing the charateristics of the platform, a new static scheduling called MLEL(Multi-Level Equivalent Load), that improved on GA and IP's weakness in tasks assemble, is proposed. Tests conducted on the same platform proves that the new strategy can effectively improve the ability of platform. For remedying the windage in the obtaining of static conditions and enhancing the correcting ability, the dynamic sheduling strategy, based on the task replicate(TR), is proposed to eliminate the state delay along with the freezing state. In the platform, the static and dynamic sheduling strategy are combined to ensure the executing effectively.
At last, this dissertation introduces the design and realization of the overall platform. Based the study of the key technologies, a prototype system is designed and implement. As a result, it validates the delamination idea for the real-time simulation platform, and the above-mentional key technologies are feasible to statify the requirement of the platform design, under a typical application of missile electronic prnetration simulation system. It shows the expandability, reusability and scalable of the platform.
论文首先从并行分布实时仿真平台的约束关系入手,基于实时仿真应用需求,分析了衡量仿真平台的性能指标和信号级实时仿真应用的特点,在此基础上提出了层次化结构的设计思想,从平台的硬件组成、软件管理、模型特点等方面,将仿真平台分为：非实时层、弱实时层、强实时层和苛刻实时层,并重点分析了苛刻实时层的实现特点和硬件选型。
在仿真平台层次化架构研究的基础上,实现了基于DSP苛刻实时仿真层的设计与开发。设计与实现了基于单节点DSP的苛刻实时仿真层,并通过实验验证在计算稳定性、通讯实时性上,具有通用计算机不可比拟的优势。为实现苛刻实时仿真层的扩展,研究了通讯性能与多节点DSP苛刻实时仿真层性能间的关系,提出了苛刻实时层单板多节点多设计的基本原则,实现了基于三级存储结构的多节点苛刻实时仿真层设计,并以此提供了不同形式的扩展以及平台化的结构方案。
结合多层次PDRTS硬件平台的实现,为保证仿真平台的时间控制,论文研究了仿真平台尤其是苛刻实时仿真层的时间管理。在传统并行分布仿真平台时间管理的分析基础之上,针对苛刻实时仿真层,提出了基于GPS的PPS时钟信号和高精度时钟晶振信号相结合的仿真时钟控制机制,实现了局部偏差(Local Error)与全局偏差(Global Error)相互校正的时钟控制策略。基于硬件实现苛刻实时仿真层的时钟控制,提出了TTSU同步启动策略和QHCS同步控制策略,并从理论上分析了相应同步策略的性能。
接下来,在保证平台实时性能的基础上为提高执行效率,论文对仿真平台调度策略进行了研究。在仿真任务和平台形式化描述的基础上,首先研究了静态调度策略,针对遗传算法和交互优先调度策略的缺陷,论文根据多层次仿真平台的特点,提出了多层次等效负载(MLEL)调度策略,经实验证明该策略可以有效地减少任务聚集,提高仿真平台的整体性能。为弥补静态条件的获取误差,增加平台的容错能力,论文研究了动态调度策略,提出了基于任务复制策略,以消除状态冻结带来的任务执行延迟,设计了平台的整体调度策略,提出了静态调度与动态调度相结合的调度思想。
最后,论文介绍了仿真平台的整体设计与实现。在多层次实时仿真平台关键技术研究的基础上,设计并实现了多层次并行分布实时仿真平台的原型系统。通过XX突防系统仿真实例的应用,验证了仿真平台层次化的设计思想,展示了平台的可扩展性、可重用性以及可定制性。
As the scale and performance of the real-time simulation applications are increasing, the simulation environment, that is more powerful, and more cosmical, is needed. In the building of the real-time simulation platform, the reusability, expansibility and standardization are the important issues. Under the requirement, the Multi-Level Parallel and Distributed Real-Time(PDRT) simulaiton platform is researched. The development of the real-time simulation platform, based on the DSP(Digital Signal Processor), has more advantage than the general computer in computing stability, time managmeny precision and communication speed. The frame time that the platform can supply is a few microsecond, so it can satisfy with the requriment of signal simulation. Based on the research of the traditional simulation platform, we propose the four level architecture for the design of the simulation platform, and emphasize on the development of the platform based on DSP.
The dissertation first analyzes the restriction relationship of the real-time simulation platform. From view of the simulaiton platform development, the performance standard of the real-time simulation platform and the characteristic of signal real-time simulaiton are analyzed. Based on the analyse, the delamination idea for the design of the real-time simulation platform is proposed. Based the hardware, software and model, the platform is leveled with non-real-time level, soft real-time level, hard real-time level and rigorous real-time level, and especially analyzes the rigorous real-time level.
Based on the research of the level architecture, the regorous real-time simulation level is designed and developed using DSP. Firstly, the regorous real-time simulation level with one DSP is researched. Through the test, the advantage in computing stability and communication ability, comparing with the general computer, is proved. Furthermor, in order to improve the ability of the regorous real-time simulation level, the dissertation researches the relationship between the communication ability and the speedup of Multi-DSP. The basic principle is introduced for designing the regorous with Multi-DSP. In the end, the multi-DSP regorous real-time level, based on the three-level memory structure, is designed, and called Super Node(SN). Based on the SN, the different extended styles are introduced.
Then, based on the hardware of the platform, the dissertation discusses the Time Management to promise the control of the time, especially researches the time controlling in the regorous real-time level. In order to satisfy the time required, by analyzing the GPS clock error and combing the charateristics of the GPS-PPS signal with the high precision oscillator, strategy for correcting both error of the GPS-PPS and the oscillator is introduced. As the GPS-PPS is free from cumulative error, and the high precision crystal oscillator is free from random error, each error can be revised by each other. Using the high precision simulaiton clock, the Timer Synchronization Start-Up(TSSU) and the Quasi-Homologous Clock Synchronization(QHCS) are proposed to satisfy the time requirement in the regorous real-time level.
Following this, in order to improve the efficiency of the platform with satisfying the performance requirement, the dissertation researches scheduling strategy in multi-level PDRTS platform. Based on the description of formalization, the static scheduling strategy first is desibussed. By analyzing the charateristics of the platform, a new static scheduling called MLEL(Multi-Level Equivalent Load), that improved on GA and IP's weakness in tasks assemble, is proposed. Tests conducted on the same platform proves that the new strategy can effectively improve the ability of platform. For remedying the windage in the obtaining of static conditions and enhancing the correcting ability, the dynamic sheduling strategy, based on the task replicate(TR), is proposed to eliminate the state delay along with the freezing state. In the platform, the static and dynamic sheduling strategy are combined to ensure the executing effectively.
At last, this dissertation introduces the design and realization of the overall platform. Based the study of the key technologies, a prototype system is designed and implement. As a result, it validates the delamination idea for the real-time simulation platform, and the above-mentional key technologies are feasible to statify the requirement of the platform design, under a typical application of missile electronic prnetration simulation system. It shows the expandability, reusability and scalable of the platform.
引文
[1]Abourida S, Belanger J, Dufour C. Real-Time HIL Simulation of a Complete PMSM Drive at lOus Time Step[C]. European,2005:1-9.
[2]Crosbie R E. High-Speed Real-Time Simulation[C]. Proceedings of the First Asia International Conference on Modeling&Simulation(AMS'07),2007:7-13.
[3]姚新宇,黄柯棣.基于高速网络的苛刻实时分布仿真系统[C].二○○四年学术交流会,2004：33-41.
[4]黄柯棣,张金槐,李剑川等.系统仿真技术[M].长沙：国防科技大学出版社,1998.
[5]韩守鹏.分布式仿真系统动态重构技术研究[D].长沙：国防科学技术大学,2007.
[6]廖瑛,梁加红,姚新宇.实时仿真理论与支撑技术[M].长沙：国防科技大学出版社,2002.
[7]Fujimoto R M. Parallel and Distributed Simulation Systems[M]. New York:John Wiley & Sons,Inc,2000.
[8]Hassan.Gomaa.并发与实时系统软件设计[M].北京：清华大学出版社,2003.
[9]TOP500Team. The Top Trends in High Performance Computing [Z].2008.
[10]王学慧.并行与分布实时仿真系统中的时间管理技术研究[D].长沙：国防科学技术大学,2002年4月.
[11]Kanarick. A Technical Overview and History of the SIMNET Project[C]. 1991:104-111.
[12]Institute of Electrical and Electronics Engineers, International Standard, ANSI/IEEE Std 1278-1993, Standard for Information Technology, Protocols for Distributed Interactive Simulation, March 1993.[J].
[13]The MITRE Corporation, Aggregate Level Simulation Protocol (ALSP) Program Status and History, Mar.1993.[J].
[14]Simulation Interoperability Standards Committee(SISC) of the IEEE Computer Society. IEEE Standard for Modeling and Simulation (M&S) High Level Architecture (HLA)-IEEE Std 1516-2000,1516.1-2000,1516.2-2000[EB]. New York:Institute of Electrical and Electronics Engineers, Inc.,2000.[J].
[15]Jeffrey S, Steinman, Douglas R. Evolution of the Standard Simulation Architecture[C]. SANDIEGO,2004:1-30.
[16]刘藻珍,魏华梁.系统仿真[M].北京：北京理工大学出版社,1998.
[17]惠天舒.局域网分布实时仿真技术的研究[D]：北京航空航天大学,2000.
[18]陆云,刘建永,曾京.GPS干扰技术及其仿真应用[J].光电技术应用,2004,19(5)：44-46.
[19]苏涛,何学辉,吕林夏.实时信号处理系统设计[M].西安：西安电子科技大学出版社,2006.
[20]姚新宇,黄柯棣.分布实时仿真系统KD-DRT体系结构研究和应用[J].计算机仿真,2009,增刊.
[21]姚益平,蒋志文,鄢来斌.实时仿真计算机及其应用[J].国防科技,2003(02)：27-29.
[22]APPLIED DYNAMICS INTERNATIONAL(ADI),High-Performance Real-Time Simulator, http://www.adi.com.
[23]APPLIED DYNAMICS INTERNATIONAL(ADI),The eXpandable Real-Time Simulator, http://www.adi.com.
[24]dSPACE Simulator[Z]. http://www.dspace.com.2008
[25]马培蓓,吴进华,纪军等.dSPACE实时仿真平台软件环境及应用[J].系统仿真学报,2004,16(4)：667-670.
[26]林刚勇,周航慈,吴光文等.基于裸机编程的实时系统[J].单片机与嵌入式系统应用,2005,11：14-16.
[27]银河高性能实时半实物仿真工作站YH-ASTAR, http://www.yhsim.com.
[28]Graham R G, Sutton M L, Mcqueen L C S M, et al. Increased Affordability of BMD Systems Through Distributed Hardware-in-the-Loop during Development[R],1997.
[29]Uslander T, IITB F. OPERA:A CORBA-based Architecture Enabling Distributed Real-Time Simulations[C]. Object-Oriented Real-Time Distributed Computing,1999(ISORC'99) Proceedings,1999:241-244.
[30]唐志勇.任务管理式新型冗余飞控系统及仿真平台研究[D].北京：北京航空航天大学,2003年6月.
[31]R.Wei, M.H.Jin, J.J.Xia, et al. Distributed Hardware-in-the-Loop Simulation for Space Robot on CAN Bus[C]. IECON 2006-32nd Annual Conference on IEEE Industrial Electronics,2006:3928-3993.
[32]Crosbie R E. Embedded, High-Speed Real-Time (HSRT) Simulations[R],2006.
[33]Crosbie R, Zenor J, Bendar R, et al. High-Speed, Scalable, Real-Time Simulation Using DSP Arrays[C]. Proceedings of the 18th Workshop on Parallel and Distributed Simulation (PADS'04),2004:52-59.
[34]刘苏莉.基于多DSP实时红外图像处理系统的研究[D].武汉：华中科技大学,2006.
[35]吴琳拥.基于ADSP-TS101的雷达信号处理机实现[D].成都：电子科技大学,2005.
[36]林勇鹏.基于多DSP系统的雷达信号处理软件研究[D].西安：西安电子科技大学,2004.
[37]甘泉.基于DSP的软件无线电接收机研究和实现[D].武汉：武汉理工大学,2005.
[38]张俊杰.基于软件无线电的多DSP平台关键技术的研究[D].哈尔滨：哈尔滨工程大学,2005.
[39]扈宏杰.基于DSP技术的飞行仿真转台控制[D].北京：北京航空航天大学,2003年1月.
[40]王俊.分布异构环境下基于中间件的负载平衡技术研究[D].长沙：国防科学技术大学,2007年4月.
[41]肖卫国,尔联杰.雷达制导半实物仿真误差分析[J].系统仿真学报,2007,19(11)：2461-2463.
[42]朱元昌.分布式防空武器系统仿真平台及关键技术研究[D].南京：南京理工大学,2004.
[43]伍智锋.分布式飞行仿真技术研究[D].西安：西北工业大学,2003.
[44]陈欣,张民,汤群章.一种基于光纤网络实时飞行仿真系统[J].系统仿真学报,2007,19(20)：4654-4656.
[45]孔繁峨,陈宗基.基于RTW和VxWorks的飞行控制系统实时仿真[J].系统仿真学报,2007,19(11)：2455-2457.
[46]M.Papini, P.Baracos. Real-Time Simulation, Control and HIL COTS Computing Clusters[C]. AIAA Modeling and Simulation Technologics Conference,2000:1-6.
[47]Madl G, Dutt N. Real-time Analysis of Resourse-Constrained Distributed Systems by Simulation-Guided Model Checking[J].
[48]Manikutty A, Merugu S, G.Manimaran, et al. DREAD:Distributed Real-Time air Defense System[C]. Parallel Distributed Real-Time System 1997,1997:108-118.
[49]Kamel M, Trudeau C. Springfield:A Real-Time Parallel Simualtion of Mobile Telecommunications [C]. CCECE'98,1998:501-504.
[50]Boukerche A, Lu K. A Novel Approach to Real-Time RTI base Distributed Simulation System[C].2005:1-8.
[51]Cockrell C D. A Parallel Architecture for Real-Time Simulation[D]. Alabama: University of Alabama at Kuscaloosa,1989.
[52]Smith J S, Peters B A, Jordan S E, et al. Distributed Real-Time Simulation for Intruder Detection System Analysis [C]. Proceedings of the 1999 Winter Simulation Conference,1999:1168-1173.
[53]R.D.Lehmer, S.J.Malsom. Distributed System Architecture in VAST-RT for Real-Time Airspace Simulation[C]. AIAA Modeling and Simulation Technologies Conference and Exhibit,2004:1-10.
[54]M.Lane D, G.J.Falconer, G.Randall. Interoperability and Synchronisation of Distributed Hardware-in-the-loop Simulaiton for Underwater Robot Development:Issue and Experiments[C]. Proceedings of the 2001 IEEE International Conference on Robotics&Automation,2001:909-914.
[55]Fujimoto R M. Parallel and Distributed Simulation[C].1999:122-131.
[56]Fujimoto R M. Distributed Simulation System[C].2003:124-134.
[57]刘云,蒋卫平,印永华等.特高压交直流大电网的数模混合实时仿真系统建模[J].电力系统自动化,2008,32(12)：52-56.
[58]田芳,李亚楼,周孝信等.电力系统全数字实时仿真装置[J].电网技术,2008,32(22)：17-22.
[59]姚新宇.分布交互仿真集成技术研究与实现[D].长沙：国防科学技术大学,1999.
[60]张卫华.工程级与交战级联合建模与仿真关键技术研究[D].长沙：国防科技大学,2006.
[61]Lamport L. Time, clocks, and the ordering of events in a distributed system[C]. 1978:558-565.
[62]Raynal M, Singhal M. Logical Time:Capturing Causality in Distributed Systems[J]. IEEE Computer,1996,29(2):49-56.
[63]李兴玮,张卫华,潘玉林等.通用计算机实时仿真技术[J].国防科技大学学报,2005,27(2)：75-79.
[64]孙勇成,孙凌,周献中等.分布式实时仿真系统的实时性验证[J].系统仿真学报,2005,17(7)：1553-1559.
[65]赵英,徐金平,韩少廷.网络时钟同步系统的设计[J].计算机应用,2004,24：12-14.
[66]Qun L, Daniela R. Global Clock Synchronization in Sensor Networks[J].2004.
[67]陈亮,杨吉斌,张雄伟.信号处理算法的实时DSP实现[M].北京：电子工业出版社,2008.
[68]Rangarao K V, Mallik R K. Diagital Signal Processing:A Practitioner's Approach[M].西安：西安交通大学出版社,2007.
[69]Roberts M J. Signals and System[M].北京：机械工业出版社,2006.
[70]Ackenhusen J G. Real-Time Signal Processing:Design and Inplementation of Signal Processing Systems[M].北京：电子工业出版社,2002.
[71]Koutroulis E, Kalaitzakis K, Tzitzilonis V. Development of an FPGA-based System for Real-Time Simulation of Photovoltaic Modules[C]. Proceedings of the Seventeenth IEEE International Workshop on Rapid System Prototyping (RSP'06), 2006.
[72]毛羽刚,金士尧,张拥军等.分布强实时系统的可预测性研究[J].计算机研究与发展,2000,37(6)：661-667.
[73]董恩强,沈雁,赵合计.强实时环境下的高可靠性技术研究[J].计算机工程与科学,2006,28(3)：102-105.
[74]彭亮智,戴金海,桂先洲.强实时环境下调度非周期任务的时限寻优方法[J].计算机工程与应用,2001.
[75]黄健.HLA仿真系统软件支撑框架及其关键技术研究[D].长沙：国防科技大学,2000.
[76]李霞,亓雪冬.Linux平台RTOS通用仿真环境的设计与实现[J].嵌入式操作系统应用,2006,22(2-2)：75-77.
[77]赵明富,李太福,罗松.Linux嵌入式系统实时性分析与实时化改进术[J].计算机应用研究,2004,4：200-203.
[78]李健.反射内存强实时星型网络[R],2004.
[79]孙晖,徐林,杨乾远等.基于反射内存的计算机实时通信网络[J].广西通信技术,2008,2：29-31.
[80]孙卉,吴嗣亮.反射内存网在半实物仿真系统中通讯协议的设计[J].军民两用技术与产品,2005,3：42-44.
[81]肖卫国,尔联洁,谢廷毅等.基于共享内存机制微机实时网的数据传输实时性研究[J].系统仿真学报,2004,16(8)：1117-1720.
[82]北京理工大学雷达技术研究所.DSP与基于标准总线的DSP系统[R].北京：北京理工大学雷达技术研究所,2004.
[83]刘书明,罗勇江.ADSP TS20XS系列DSP原理与应用设计[M].北京：电子工业出版社,2007.
[84]Devices A. TigerSHARC(?)Embedded Processor ADSP-TS201S[Z].2004.
[85]http://www.plxtech.com. PCI 9056BA Data Book[Z].2003.
[86]Jordan H F, alaghband G. Fundamentals of Parallel Processing[M].北京：清华大学出版社,2004.
[87]徐甲同,李学干.并行处理技术[M].西安：西安电子科技大学出版社,1999.
[88]Balakrishnan V, Frey P, Abu-Ghazaleh N B. A Framework for Performance Analysis of Parallel Discrete Event Simulators[C].1997:429-436.
[89]Taylor S J E, Delaitre T. Estimating the Benefit of the Parallelization of Discrete Event Simulation[C].1995:647-681.
[90]陈国良等.并行计算[M].北京：高等教育出版社,1999.
[91]谢超,麦联叨,都志辉等.关于并行计算系统中加速比的研究与分析[J].计算机工程与应用,2003,26：66-68.
[92]申鼎才,董必昌.并行处理中节点间通信对加速比的影响[J].合肥工业大学学报(自然科学版),2005,28(7)：764-767.
[93]李胜利,秦啸,韩宗芬等.分布式实时系统结构的研究[J].计算机工程与科学,2000,22(2)：40-42.
[94]Attiya H, Welch J. Distributed Computing:Fundamentals, Simulation, and Advanced Topics,(Second Edition)[M].北京：电子工业出版社，2008.
[95]Coulouris G, Dollimore J, Kindberg T. Distributed Systems:Concepts and Design(Third Edtion)[M]北京：机械工业出版社,2004.
[96]陈书明,汪东,陈小文等.一种面向多核DSP的小容量紧耦合快速共享数据池[J].计算机学报,2008,31(10)：1737-1744.
[97]Cortes L A, Eles P, Peng Z. Quasi-Static Scheduling for Real-Time Systems with Hard and Soft Tasks[C].2004.
[98]邱卫东,陈燕,李洁萍等.一种实时异构嵌入式系统的任务调度算法[J].软件学报,2004,15(2)：504-511.
[99]张卫.面向并行分布式仿真的服务网格关键技术研究[D].长沙：国防科技大学,2009.
[100]李冬梅,施海虎.负载平衡调度问题的一般模型研究[J].计算机工程与应用,2007,43(8)：121-125.
[101]闫志军,马礼举.分布式系统中处理机的分配和调度研究[J].现代电子技术,2006,19：52-53.
[102]Yang T, Gerasoulis A. A Fast Static Scheduling Algorithm for DAGs on an Unbounded Number of Processors[J].1991:633-642.
[103]Verhoosel J P C, Luit E J, Hammer D K. A Static Scheduling Algorithm for Distributed Hard Real-Time Systems [J]. The Journal of Real-Time Systems,1991,3:227-246.
[104]Roig C, Ripoll A, Senar M, et al. A new model for static mapping of parallel applications with task and data parallelism[C].2002.
[105]李庆华,韩建军,Abbas A E.同构计算环境中一种快速有效的静态任务调度算法[J].计算机研究与发展,2005,42(1)：118-125.
[106]韩建军,Abbas A E,李庆华.同构计算环境中一种新的静态任务调度算法[J].小型微型计算机系统,2005,26(1)：59-63.
[107]蒋韵联,孙广中,许胤龙.并行异构系统中的一种高效任务调度算法[J].计算机工程,2007,33(11)：39-41.
[108]卢再奇,肖立,何峻等.一种灵巧同构系统的任务静态调度算法[J].系统工程与电子技术,2007,29(2)：285-290.
[109]魏洪涛,刘晨,李群等.基于交互优先算法的网格仿真实体静态调度策略[J].小型微型计算机系统,2006,27(1)：104-109.
[110]乔海泉.并行仿真引擎及其相关技术研究[D].长沙：国防科学技术大学,2006年.
[111]M.R.Garey, S.Johson. Computer and Intractability:A Guide to the Theory of NP-Completeness[M]. New York:W.H. Freeman and Co.,1979.
[112]徐洪智,李仁发,张彬连等.一种快速平衡任务的网格调度算法[J].系统仿真 学报,2007,19(11)：2437-2443.
[113]许建峰,朱晴波,胡宁等.分布式实时系统中的预测调度算法[J].软件学报,2000,11(1)：95-103.
[114]Goldberg D E. Genetic Algoriths in Search, Optimization, and Machine Learning[M]:Addison-Wesley,1989.
[115]史忠植.知识发现[M].北京：清华大学出版社,2002.
[116]Ahmad I, Dhodhi M K. Multiprocessor Scheduling in a Genetic Paradigm[J]. Parallel Computing,1996,22:395-406.
[117]周双娥,雷辉.基于改进的遗传-模拟退火的有序任务调度算法[J].微电子学与计算机,2006,23(10)：62-64.
[118]Schaffer J D, Whitley D, Esheman L J. Combination of Genetic Algorithms and Neural Network:a Survey of the State of the Art[C].1992:1-37.
[119]卢再奇.弹载毫米波雷达目标识别实现技术研究[D].长沙：国防科技大学,2002.
[120]王学慧,杨菲,黄柯棣.并行分布仿真中负载平衡的调度算法研究[J].系统仿真学报,2005,17(8)：2018-2021.
[121]王小非,方明.一种基于调度簇树的周期性分布实时任务调度算法[J].计算机科学,2007,34(3)：256-261.
[122]汪祥莉.并行计算中的静态负载分配[J].微电子学与计算机,2002,7：20-21.
[123]李绍燕,惠天舒,陈宗基.局域网分布实时仿真的实现技术研究[J].系统仿真学报,2004,16(7)：1489-1493.
[124]姚新宇,黄柯棣.仿真中的时间和实时仿真[J].系统仿真学报,1999,11(6)：415-417.
[125]IEEE Standard for Modeling and Simulation (M&S) High Level Architecture(HLA):Federate Interface Specification(IEEE Std 1516.1-2000)[Z]. USA:The Institute of Electrical and Electronics Engineers, Inc.,2001.
[126]何炎祥.分布式操作系统[M].北京：高等教育出版社,2005..
[127]S.J.Turner, M.Q.Xu. Performance evaluation of the bounded Time Warp algorithm[C].1992.
[128]Perumalla K S. Parallel and Distributed Simulation:Traditional Techniques and Recent Advances[C].2006:84-95.
[129]谭朋柳,金海,张明虎.分布式实时系统的集中式相对时钟同步方法[J].华中科技大学学报(自然科学版),2007,35(2)：16-18.
[130]Bumble M, Coraor L. A Global Synchronization Network for a Non-deterministic Simulation Architecture[C].1999:1460-1469.
[131]薛芳侠,闫了了,虹谢等.分布式实时仿真系统高精度时间同步技术研究[J]. 计算机应用,2006,26(4)：989-991.
[132]李泽文,曾祥君,黄智伟等.基于高精度晶振的GPS秒时钟误差在线修正方法[J].电力系统自动化,2006,30(13)：55-58.
[133]曾祥君,尹项根,K.K.Li等.GPS时钟在线监测与修正方法[J].中国电机工程学报,2002,22(10)：41-46.
[134]Lewandowski W, Petit G. Precision and accuracy of GPS time transfer[J]. IEEE Transactions on Instrumentation and Measurement,1993,42(2):474-479.
[135]http://zone.ni.com/. Introduction to Distributed Clock Synchronization and the IEEE 1588 Precision Time Protocol.2008.
[136]宋妍,朱爽.基于NTP的网络时间服务系统的研究[J].计算机工程与应用,2003,36：147-149.
[137]姚新宇.分布实时仿真支撑系统(KD-DRT) [Z].长沙：国防科技大学机电工程与自动化学院军用仿真研究室,2007.
[138]刘东.基于PCI9056的PCI总线设计[J].兵工自动化,2005,24(1)：37-41.
[139]PCI Local Bus Specification Revision 2.2[Z].1998.
[2]Crosbie R E. High-Speed Real-Time Simulation[C]. Proceedings of the First Asia International Conference on Modeling&Simulation(AMS'07),2007:7-13.
[3]姚新宇,黄柯棣.基于高速网络的苛刻实时分布仿真系统[C].二○○四年学术交流会,2004：33-41.
[4]黄柯棣,张金槐,李剑川等.系统仿真技术[M].长沙：国防科技大学出版社,1998.
[5]韩守鹏.分布式仿真系统动态重构技术研究[D].长沙：国防科学技术大学,2007.
[6]廖瑛,梁加红,姚新宇.实时仿真理论与支撑技术[M].长沙：国防科技大学出版社,2002.
[7]Fujimoto R M. Parallel and Distributed Simulation Systems[M]. New York:John Wiley & Sons,Inc,2000.
[8]Hassan.Gomaa.并发与实时系统软件设计[M].北京：清华大学出版社,2003.
[9]TOP500Team. The Top Trends in High Performance Computing [Z].2008.
[10]王学慧.并行与分布实时仿真系统中的时间管理技术研究[D].长沙：国防科学技术大学,2002年4月.
[11]Kanarick. A Technical Overview and History of the SIMNET Project[C]. 1991:104-111.
[12]Institute of Electrical and Electronics Engineers, International Standard, ANSI/IEEE Std 1278-1993, Standard for Information Technology, Protocols for Distributed Interactive Simulation, March 1993.[J].
[13]The MITRE Corporation, Aggregate Level Simulation Protocol (ALSP) Program Status and History, Mar.1993.[J].
[14]Simulation Interoperability Standards Committee(SISC) of the IEEE Computer Society. IEEE Standard for Modeling and Simulation (M&S) High Level Architecture (HLA)-IEEE Std 1516-2000,1516.1-2000,1516.2-2000[EB]. New York:Institute of Electrical and Electronics Engineers, Inc.,2000.[J].
[15]Jeffrey S, Steinman, Douglas R. Evolution of the Standard Simulation Architecture[C]. SANDIEGO,2004:1-30.
[16]刘藻珍,魏华梁.系统仿真[M].北京：北京理工大学出版社,1998.
[17]惠天舒.局域网分布实时仿真技术的研究[D]：北京航空航天大学,2000.
[18]陆云,刘建永,曾京.GPS干扰技术及其仿真应用[J].光电技术应用,2004,19(5)：44-46.
[19]苏涛,何学辉,吕林夏.实时信号处理系统设计[M].西安：西安电子科技大学出版社,2006.
[20]姚新宇,黄柯棣.分布实时仿真系统KD-DRT体系结构研究和应用[J].计算机仿真,2009,增刊.
[21]姚益平,蒋志文,鄢来斌.实时仿真计算机及其应用[J].国防科技,2003(02)：27-29.
[22]APPLIED DYNAMICS INTERNATIONAL(ADI),High-Performance Real-Time Simulator, http://www.adi.com.
[23]APPLIED DYNAMICS INTERNATIONAL(ADI),The eXpandable Real-Time Simulator, http://www.adi.com.
[24]dSPACE Simulator[Z]. http://www.dspace.com.2008
[25]马培蓓,吴进华,纪军等.dSPACE实时仿真平台软件环境及应用[J].系统仿真学报,2004,16(4)：667-670.
[26]林刚勇,周航慈,吴光文等.基于裸机编程的实时系统[J].单片机与嵌入式系统应用,2005,11：14-16.
[27]银河高性能实时半实物仿真工作站YH-ASTAR, http://www.yhsim.com.
[28]Graham R G, Sutton M L, Mcqueen L C S M, et al. Increased Affordability of BMD Systems Through Distributed Hardware-in-the-Loop during Development[R],1997.
[29]Uslander T, IITB F. OPERA:A CORBA-based Architecture Enabling Distributed Real-Time Simulations[C]. Object-Oriented Real-Time Distributed Computing,1999(ISORC'99) Proceedings,1999:241-244.
[30]唐志勇.任务管理式新型冗余飞控系统及仿真平台研究[D].北京：北京航空航天大学,2003年6月.
[31]R.Wei, M.H.Jin, J.J.Xia, et al. Distributed Hardware-in-the-Loop Simulation for Space Robot on CAN Bus[C]. IECON 2006-32nd Annual Conference on IEEE Industrial Electronics,2006:3928-3993.
[32]Crosbie R E. Embedded, High-Speed Real-Time (HSRT) Simulations[R],2006.
[33]Crosbie R, Zenor J, Bendar R, et al. High-Speed, Scalable, Real-Time Simulation Using DSP Arrays[C]. Proceedings of the 18th Workshop on Parallel and Distributed Simulation (PADS'04),2004:52-59.
[34]刘苏莉.基于多DSP实时红外图像处理系统的研究[D].武汉：华中科技大学,2006.
[35]吴琳拥.基于ADSP-TS101的雷达信号处理机实现[D].成都：电子科技大学,2005.
[36]林勇鹏.基于多DSP系统的雷达信号处理软件研究[D].西安：西安电子科技大学,2004.
[37]甘泉.基于DSP的软件无线电接收机研究和实现[D].武汉：武汉理工大学,2005.
[38]张俊杰.基于软件无线电的多DSP平台关键技术的研究[D].哈尔滨：哈尔滨工程大学,2005.
[39]扈宏杰.基于DSP技术的飞行仿真转台控制[D].北京：北京航空航天大学,2003年1月.
[40]王俊.分布异构环境下基于中间件的负载平衡技术研究[D].长沙：国防科学技术大学,2007年4月.
[41]肖卫国,尔联杰.雷达制导半实物仿真误差分析[J].系统仿真学报,2007,19(11)：2461-2463.
[42]朱元昌.分布式防空武器系统仿真平台及关键技术研究[D].南京：南京理工大学,2004.
[43]伍智锋.分布式飞行仿真技术研究[D].西安：西北工业大学,2003.
[44]陈欣,张民,汤群章.一种基于光纤网络实时飞行仿真系统[J].系统仿真学报,2007,19(20)：4654-4656.
[45]孔繁峨,陈宗基.基于RTW和VxWorks的飞行控制系统实时仿真[J].系统仿真学报,2007,19(11)：2455-2457.
[46]M.Papini, P.Baracos. Real-Time Simulation, Control and HIL COTS Computing Clusters[C]. AIAA Modeling and Simulation Technologics Conference,2000:1-6.
[47]Madl G, Dutt N. Real-time Analysis of Resourse-Constrained Distributed Systems by Simulation-Guided Model Checking[J].
[48]Manikutty A, Merugu S, G.Manimaran, et al. DREAD:Distributed Real-Time air Defense System[C]. Parallel Distributed Real-Time System 1997,1997:108-118.
[49]Kamel M, Trudeau C. Springfield:A Real-Time Parallel Simualtion of Mobile Telecommunications [C]. CCECE'98,1998:501-504.
[50]Boukerche A, Lu K. A Novel Approach to Real-Time RTI base Distributed Simulation System[C].2005:1-8.
[51]Cockrell C D. A Parallel Architecture for Real-Time Simulation[D]. Alabama: University of Alabama at Kuscaloosa,1989.
[52]Smith J S, Peters B A, Jordan S E, et al. Distributed Real-Time Simulation for Intruder Detection System Analysis [C]. Proceedings of the 1999 Winter Simulation Conference,1999:1168-1173.
[53]R.D.Lehmer, S.J.Malsom. Distributed System Architecture in VAST-RT for Real-Time Airspace Simulation[C]. AIAA Modeling and Simulation Technologies Conference and Exhibit,2004:1-10.
[54]M.Lane D, G.J.Falconer, G.Randall. Interoperability and Synchronisation of Distributed Hardware-in-the-loop Simulaiton for Underwater Robot Development:Issue and Experiments[C]. Proceedings of the 2001 IEEE International Conference on Robotics&Automation,2001:909-914.
[55]Fujimoto R M. Parallel and Distributed Simulation[C].1999:122-131.
[56]Fujimoto R M. Distributed Simulation System[C].2003:124-134.
[57]刘云,蒋卫平,印永华等.特高压交直流大电网的数模混合实时仿真系统建模[J].电力系统自动化,2008,32(12)：52-56.
[58]田芳,李亚楼,周孝信等.电力系统全数字实时仿真装置[J].电网技术,2008,32(22)：17-22.
[59]姚新宇.分布交互仿真集成技术研究与实现[D].长沙：国防科学技术大学,1999.
[60]张卫华.工程级与交战级联合建模与仿真关键技术研究[D].长沙：国防科技大学,2006.
[61]Lamport L. Time, clocks, and the ordering of events in a distributed system[C]. 1978:558-565.
[62]Raynal M, Singhal M. Logical Time:Capturing Causality in Distributed Systems[J]. IEEE Computer,1996,29(2):49-56.
[63]李兴玮,张卫华,潘玉林等.通用计算机实时仿真技术[J].国防科技大学学报,2005,27(2)：75-79.
[64]孙勇成,孙凌,周献中等.分布式实时仿真系统的实时性验证[J].系统仿真学报,2005,17(7)：1553-1559.
[65]赵英,徐金平,韩少廷.网络时钟同步系统的设计[J].计算机应用,2004,24：12-14.
[66]Qun L, Daniela R. Global Clock Synchronization in Sensor Networks[J].2004.
[67]陈亮,杨吉斌,张雄伟.信号处理算法的实时DSP实现[M].北京：电子工业出版社,2008.
[68]Rangarao K V, Mallik R K. Diagital Signal Processing:A Practitioner's Approach[M].西安：西安交通大学出版社,2007.
[69]Roberts M J. Signals and System[M].北京：机械工业出版社,2006.
[70]Ackenhusen J G. Real-Time Signal Processing:Design and Inplementation of Signal Processing Systems[M].北京：电子工业出版社,2002.
[71]Koutroulis E, Kalaitzakis K, Tzitzilonis V. Development of an FPGA-based System for Real-Time Simulation of Photovoltaic Modules[C]. Proceedings of the Seventeenth IEEE International Workshop on Rapid System Prototyping (RSP'06), 2006.
[72]毛羽刚,金士尧,张拥军等.分布强实时系统的可预测性研究[J].计算机研究与发展,2000,37(6)：661-667.
[73]董恩强,沈雁,赵合计.强实时环境下的高可靠性技术研究[J].计算机工程与科学,2006,28(3)：102-105.
[74]彭亮智,戴金海,桂先洲.强实时环境下调度非周期任务的时限寻优方法[J].计算机工程与应用,2001.
[75]黄健.HLA仿真系统软件支撑框架及其关键技术研究[D].长沙：国防科技大学,2000.
[76]李霞,亓雪冬.Linux平台RTOS通用仿真环境的设计与实现[J].嵌入式操作系统应用,2006,22(2-2)：75-77.
[77]赵明富,李太福,罗松.Linux嵌入式系统实时性分析与实时化改进术[J].计算机应用研究,2004,4：200-203.
[78]李健.反射内存强实时星型网络[R],2004.
[79]孙晖,徐林,杨乾远等.基于反射内存的计算机实时通信网络[J].广西通信技术,2008,2：29-31.
[80]孙卉,吴嗣亮.反射内存网在半实物仿真系统中通讯协议的设计[J].军民两用技术与产品,2005,3：42-44.
[81]肖卫国,尔联洁,谢廷毅等.基于共享内存机制微机实时网的数据传输实时性研究[J].系统仿真学报,2004,16(8)：1117-1720.
[82]北京理工大学雷达技术研究所.DSP与基于标准总线的DSP系统[R].北京：北京理工大学雷达技术研究所,2004.
[83]刘书明,罗勇江.ADSP TS20XS系列DSP原理与应用设计[M].北京：电子工业出版社,2007.
[84]Devices A. TigerSHARC(?)Embedded Processor ADSP-TS201S[Z].2004.
[85]http://www.plxtech.com. PCI 9056BA Data Book[Z].2003.
[86]Jordan H F, alaghband G. Fundamentals of Parallel Processing[M].北京：清华大学出版社,2004.
[87]徐甲同,李学干.并行处理技术[M].西安：西安电子科技大学出版社,1999.
[88]Balakrishnan V, Frey P, Abu-Ghazaleh N B. A Framework for Performance Analysis of Parallel Discrete Event Simulators[C].1997:429-436.
[89]Taylor S J E, Delaitre T. Estimating the Benefit of the Parallelization of Discrete Event Simulation[C].1995:647-681.
[90]陈国良等.并行计算[M].北京：高等教育出版社,1999.
[91]谢超,麦联叨,都志辉等.关于并行计算系统中加速比的研究与分析[J].计算机工程与应用,2003,26：66-68.
[92]申鼎才,董必昌.并行处理中节点间通信对加速比的影响[J].合肥工业大学学报(自然科学版),2005,28(7)：764-767.
[93]李胜利,秦啸,韩宗芬等.分布式实时系统结构的研究[J].计算机工程与科学,2000,22(2)：40-42.
[94]Attiya H, Welch J. Distributed Computing:Fundamentals, Simulation, and Advanced Topics,(Second Edition)[M].北京：电子工业出版社，2008.
[95]Coulouris G, Dollimore J, Kindberg T. Distributed Systems:Concepts and Design(Third Edtion)[M]北京：机械工业出版社,2004.
[96]陈书明,汪东,陈小文等.一种面向多核DSP的小容量紧耦合快速共享数据池[J].计算机学报,2008,31(10)：1737-1744.
[97]Cortes L A, Eles P, Peng Z. Quasi-Static Scheduling for Real-Time Systems with Hard and Soft Tasks[C].2004.
[98]邱卫东,陈燕,李洁萍等.一种实时异构嵌入式系统的任务调度算法[J].软件学报,2004,15(2)：504-511.
[99]张卫.面向并行分布式仿真的服务网格关键技术研究[D].长沙：国防科技大学,2009.
[100]李冬梅,施海虎.负载平衡调度问题的一般模型研究[J].计算机工程与应用,2007,43(8)：121-125.
[101]闫志军,马礼举.分布式系统中处理机的分配和调度研究[J].现代电子技术,2006,19：52-53.
[102]Yang T, Gerasoulis A. A Fast Static Scheduling Algorithm for DAGs on an Unbounded Number of Processors[J].1991:633-642.
[103]Verhoosel J P C, Luit E J, Hammer D K. A Static Scheduling Algorithm for Distributed Hard Real-Time Systems [J]. The Journal of Real-Time Systems,1991,3:227-246.
[104]Roig C, Ripoll A, Senar M, et al. A new model for static mapping of parallel applications with task and data parallelism[C].2002.
[105]李庆华,韩建军,Abbas A E.同构计算环境中一种快速有效的静态任务调度算法[J].计算机研究与发展,2005,42(1)：118-125.
[106]韩建军,Abbas A E,李庆华.同构计算环境中一种新的静态任务调度算法[J].小型微型计算机系统,2005,26(1)：59-63.
[107]蒋韵联,孙广中,许胤龙.并行异构系统中的一种高效任务调度算法[J].计算机工程,2007,33(11)：39-41.
[108]卢再奇,肖立,何峻等.一种灵巧同构系统的任务静态调度算法[J].系统工程与电子技术,2007,29(2)：285-290.
[109]魏洪涛,刘晨,李群等.基于交互优先算法的网格仿真实体静态调度策略[J].小型微型计算机系统,2006,27(1)：104-109.
[110]乔海泉.并行仿真引擎及其相关技术研究[D].长沙：国防科学技术大学,2006年.
[111]M.R.Garey, S.Johson. Computer and Intractability:A Guide to the Theory of NP-Completeness[M]. New York:W.H. Freeman and Co.,1979.
[112]徐洪智,李仁发,张彬连等.一种快速平衡任务的网格调度算法[J].系统仿真 学报,2007,19(11)：2437-2443.
[113]许建峰,朱晴波,胡宁等.分布式实时系统中的预测调度算法[J].软件学报,2000,11(1)：95-103.
[114]Goldberg D E. Genetic Algoriths in Search, Optimization, and Machine Learning[M]:Addison-Wesley,1989.
[115]史忠植.知识发现[M].北京：清华大学出版社,2002.
[116]Ahmad I, Dhodhi M K. Multiprocessor Scheduling in a Genetic Paradigm[J]. Parallel Computing,1996,22:395-406.
[117]周双娥,雷辉.基于改进的遗传-模拟退火的有序任务调度算法[J].微电子学与计算机,2006,23(10)：62-64.
[118]Schaffer J D, Whitley D, Esheman L J. Combination of Genetic Algorithms and Neural Network:a Survey of the State of the Art[C].1992:1-37.
[119]卢再奇.弹载毫米波雷达目标识别实现技术研究[D].长沙：国防科技大学,2002.
[120]王学慧,杨菲,黄柯棣.并行分布仿真中负载平衡的调度算法研究[J].系统仿真学报,2005,17(8)：2018-2021.
[121]王小非,方明.一种基于调度簇树的周期性分布实时任务调度算法[J].计算机科学,2007,34(3)：256-261.
[122]汪祥莉.并行计算中的静态负载分配[J].微电子学与计算机,2002,7：20-21.
[123]李绍燕,惠天舒,陈宗基.局域网分布实时仿真的实现技术研究[J].系统仿真学报,2004,16(7)：1489-1493.
[124]姚新宇,黄柯棣.仿真中的时间和实时仿真[J].系统仿真学报,1999,11(6)：415-417.
[125]IEEE Standard for Modeling and Simulation (M&S) High Level Architecture(HLA):Federate Interface Specification(IEEE Std 1516.1-2000)[Z]. USA:The Institute of Electrical and Electronics Engineers, Inc.,2001.
[126]何炎祥.分布式操作系统[M].北京：高等教育出版社,2005..
[127]S.J.Turner, M.Q.Xu. Performance evaluation of the bounded Time Warp algorithm[C].1992.
[128]Perumalla K S. Parallel and Distributed Simulation:Traditional Techniques and Recent Advances[C].2006:84-95.
[129]谭朋柳,金海,张明虎.分布式实时系统的集中式相对时钟同步方法[J].华中科技大学学报(自然科学版),2007,35(2)：16-18.
[130]Bumble M, Coraor L. A Global Synchronization Network for a Non-deterministic Simulation Architecture[C].1999:1460-1469.
[131]薛芳侠,闫了了,虹谢等.分布式实时仿真系统高精度时间同步技术研究[J]. 计算机应用,2006,26(4)：989-991.
[132]李泽文,曾祥君,黄智伟等.基于高精度晶振的GPS秒时钟误差在线修正方法[J].电力系统自动化,2006,30(13)：55-58.
[133]曾祥君,尹项根,K.K.Li等.GPS时钟在线监测与修正方法[J].中国电机工程学报,2002,22(10)：41-46.
[134]Lewandowski W, Petit G. Precision and accuracy of GPS time transfer[J]. IEEE Transactions on Instrumentation and Measurement,1993,42(2):474-479.
[135]http://zone.ni.com/. Introduction to Distributed Clock Synchronization and the IEEE 1588 Precision Time Protocol.2008.
[136]宋妍,朱爽.基于NTP的网络时间服务系统的研究[J].计算机工程与应用,2003,36：147-149.
[137]姚新宇.分布实时仿真支撑系统(KD-DRT) [Z].长沙：国防科技大学机电工程与自动化学院军用仿真研究室,2007.
[138]刘东.基于PCI9056的PCI总线设计[J].兵工自动化,2005,24(1)：37-41.
[139]PCI Local Bus Specification Revision 2.2[Z].1998.