摘要
仿真建模作为信息物理融合系统(Cyber-Physical System,CPS)开发的重要支撑,在CPS领域得到广泛应用,CPS与传统的嵌入式系统有很大的不同,不仅系统规模更加庞大,系统异质性更加明显,而且具有网络化开放性、计算过程与物理过程融合、时空特性鲜明等特点,这给CPS仿真建模带来了很大的挑战。针对CPS计算-物理深度融合的问题,结合CPS典型实例月球车系统应用需求,设计了月球车的CPS化架构,在Rhapsody环境中,建立了系统的静态结构图和动态行为图,采用模型转换技术,把Simulink建立的系统物理连续动态模型导入到月球车UML模型,基于实时性实现了CPS系统计算实体与物理实体融合的仿真建模,最后对融合模型进行了仿真,仿真结果满足系统需求,这对于CPS仿真建模和CPS系统开发具有重要意义。
Simulation modeling is widely used in the field of CPS as an important back-up, but it is facing the problem how to realize the integrations of computation and physical processes. Compared with traditional embedded system, CPS has a much larger scale, and system heterogeneity is more obvious, as well as with the features of network openness, deep integrations of computation and physical processes and distinct spatial and temporal characteristics. For the problem of how to realize the integrations of computation and physical processes, a deep research was done. Combined with requirements of the Lunar Rover system, the system architecture was designed. Depending on use-cases, the static structure diagrams and dynamic behavior diagrams of the system were established in rhapsody, and then the simulink model which represents the continuous dynamic model of the physical entities was added to the uml model, implement integration of heterogeneous model based on real-time. At last, the simulation verification was carried out and the simulation result meets system requirements. This has an important meaning for CPS simulation modeling and CPS system development.
出处
《系统仿真学报》
CAS
CSCD
北大核心
2014年第3期631-637,共7页
Journal of System Simulation
基金
国家863项目(2011AA010102)
