复杂机电系统分布式实时仿真平台关键技术研究

In view of the existing distributed real-time simulation system, it totally depended on importing. The underlying mechanism is not open to common, so it's hard to estimate the simulation step accurately which increases with the number of subsystem and difficult to meet the needs of large-scale complex electromechanical system in the hardware-in-the-loop real-time simulation. It is necessary to get the research of the internal mechanism of the existing distributed real-time simulation system, such as hardware synchronization, software synchronization, I/O and task partition, and grasp the time of overhead. On this basis, the research puts forward a synchronization method of hierarchical hardware and software for solving the bottleneck problem that the simulation step of real-time simulation system is difficult to reduce and increases linearly with the increasing of the subsystem;builds the segmentation standard of considering evaluation of real-time tasks data interactive demonstration effect,and provides a theoretical basis for the establishment of suitable task division; builds the basic framework of hardware and software for the large-scale complex electromechanical real-time system simulation hardware-in-the-loop, which lays a theoretical foundation for the independent development of large-scale electromechanical system real-time simulation platform; perfects the design theory and method of real-time simulation software of complex electro-mechanical system, achieve the comprehensive optimization performance of distributed real-time simulation platform, which helps to improve the design of complex electromechanical system, the integration and verification ability. It also can be extended to other power electronic applications, which has important scientific significance.

针对现有分布式实时仿真系统完全依赖于进口，其底层机制不开放难以准确估计仿真实时性能，且仿真步长随子系统增加而显著增加，难以满足大规模复杂机电系统硬件在回路实时仿真需要等问题，研究现有分布式实时仿真系统的硬件同步、软件同步、输入输出和任务分割等内部机制，掌握各环节时间开销规律；研究基于FPGA的机电系统状态空间方程的并行求解理论与方法。在此基础上，提出一种分层同步方法，解决大规模实时仿真系统仿真步长难以减小且随子系统的增加而线性增加的瓶颈问题；建立考虑数据交互延时影响的实时任务分割算法的评价标准，为合理进行任务分割提供理论依据；建立适用于大规模复杂机电系统硬件在回路实时仿真的硬件和软件基本框架，完善分布式实时仿真系统的设计理论及方法。该研究成果既有利于充分发挥现有进口实时仿真平台能力，又可为开发具有自主知识产权的分布式实时仿真平台奠定理论基础，从而提高我国复杂机电系统的设计、集成和验证能力。

针对现有分布式实时仿真系统完全依赖于进口，其数据处理与通信、分布式运算结构等底层机制不开放，从而难以准确估计实时仿真性能，且仿真步长随着子系统数量的增加而增加导致仿真精度难以保证，不能满足大规模复杂机电系统硬件在回路实时仿真的需求。.本课题设计了实时仿真系统必须的输入输出信号处理方案，共四类35型234块信号调理板卡；对实时仿真系统所必需的传感信号处理算法进行了开发。建立了真实世界和虚拟仿真世界间桥接的机制，能够实现高精度高还原度的对接。 本课题从耦合电感元件特性的角度出发，建立基于FPGA硬件平台，设计了电机模型的细粒度流水线并行结构，能够胜任多套多相多并联的特种电机模型实时仿真，极大的提高了仿真系统的实时性和置信度，为该电机极端工况试验与新型电机控制算法的验证奠定了基础。本课题开展了实时仿真平台底层运行时间开销机制的研究，通过优化实时仿真中通信、实时分系统任务分割、软硬件同步方式以提高通讯传输效率，避免了多串联多主从机器间的数据堵塞，降低了仿真步长，提高了仿真精度。保证了10台12核中央处理器运行大规模复杂机电系统模型25us实时运行，满足电磁暂态仿真精度要求。本课题最终成功的建立了以某大型复杂机电系统为对象的半实物实时仿真平台。该平台共包括核心仿真机10台、接口扩展箱6台、人机操作平台5套、机柜体12台、接口调理箱48台、其他陪试设备若干。.实时仿真平台可以模拟不同工况、不同故障，包括短路、过载、超速等故障，实现被测试设备及其控制算法在严苛条件下的性能指标测试，能够充分研究各种因素对全系统性能的影响，降低研制成本，缩短研制周期，为建立实际的大功率机电系统提供技术支持。本课题已成功应用于若干国家、军队重大项目软硬件测试工作。

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