智能无人潜水器半实物仿真平台设计

为了验证无人潜水器系统的软件逻辑及智能控制系统的硬件体系、数据接口和可靠性,通过对其体系结构中的决策层进行实物仿真,对感知层和行为层进行功能性虚拟仿真来构建半实物仿真平台。详细阐述了该平台的硬件和软件体系结构,对虚拟仿真中的运动仿真、传感器仿真以及实物仿真中智能控制系统的设计做出了说明,进行了自主避障仿真试验和远距离航行仿真试验,该半实物仿真平台对实际海试具有重要的参考价值。

Abstract：

To verify the system software logic of a newly designed autonomous underwater vehicle and the hardware architecture,data interface and reliability of the intelligent control system,the semi physical simulation platform was established by combining physical simulation of decision layer with virtual simulation of perception and behavior layer.The hardware and software architecture of the simulation platform were explained in detail.The virtual simulations of motion,sensors and physical simulation of intelligent control system were described.Finally,the obstacle avoidance simulation and long voyage simulation tests were conducted,and the platform is important for the success of sea experiments.     

Adaptive neural control for a class of uncertain stochastic nonlinear systems with dead-zone

The problem of adaptive stabilization is addressed for a class of uncertain stochastic nonlinear strict-feedback systems with both unknown dead-zone and unknown gain functions.By using the backstepping method and neural network(NN) parameterization,a novel adaptive neural control scheme which contains fewer learning parameters is developed to solve the stabilization problem of such systems.Meanwhile,stability analysis is presented to guarantee that all the error variables are semi-globally uniformly ultimately bounded with desired probability in a compact set.The effectiveness of the proposed design is illustrated by simulation results.     

面向组件的仿真系统构建方法研究

随着软件组件技术的不断发展,基于组件的软件开发方法在仿真领域逐渐被接受,特别是基于分布式的仿真软件开发。SISO（仿真互操作标准组织）提出的BOM（基本对象模型）通过标准化规范描述面向组件的仿真模型,为构建具有可扩展、可组合和可互操作的仿真系统提供了面向组件的实现技术。首先,描述BOM的模板结构及其体系结构,设计基于BOM的仿真模型组件结构,分析这种结构的仿真模型组件间的互操作性;接着从概念层次、联邦成员层次和联邦层次三个不同层次提出面向组件的仿真系统构建方法;最后讨论一种通用的仿真运行框架,通过组合不同的仿真模型组件实现仿真系统的快速构建。

Abstract：

With the development of the software component technique, the components based software development method is accepted in the simulation domain and specifically in the distributed simulation’s software development. The standard of Base Object Model （BOM） developed by SISO （Simulation Interoperability and Standard Organization） is the component-oriented specification of simulation models which gives a component-oriented technique to construct extensible composable and interoperable simulation systems. Firstly, the template and architecture of BOM were described based on which the structure of simulation model components were designed and the interoperation between them were analyzed; Secondly, the processes for constructing simulation systems were argued from the concept level and the federate level to the federation level; Lastly, by composing various of simulation model components, the general simulation running framework which was argued provided component-oriented capabilities to rapidly building simulation systems.     

舰载相控阵雷达仿真系统研究与实现

对于舰载相控阵雷达这类复杂系统的仿真,软件系统的设计起着至关重要的作用。为了更有效的进行舰载相控阵雷达的仿真研究,在模块化的基础上,引入了分层设计的思想,建立了分层模块化、易于扩展的仿真软件体系结构,给出了总仿真流程,并着重分析研究了其核心模块的功能、原理和实现流程,构建了仿真软件系统。仿真结果充分验证了模型和方法的可行性和有效性。

Abstract：

The design of software system is very important to the simulation of complex system such as shipborne phased array radar. To make the research of shipborne phased array radar simulation more efficiency, the idea of layered design was imported based on modularization, a hierarchy modularized and easy expansible simulation software architecture was established, and the whole simulation flow was suggested, the function and the theory and the realization flow of the core model was mainly researched, and the simulation software system was developed. The result of the simulation has validated the model and the method.     

A message-driving formalism for modeling and simulation of multi-agent supply chain systems

To acquire a competitive advantage in the expanding market, manufacturing enterprises should be able to manage their supply chains as effectively as possible. It is now becoming popular to model supply chains as multi-agent systems and use discrete event simulation to learn more about their behaviors or investigate the implications of alternative configurations. In order to enhance the computational efficiency and keep the simulation credibility, this paper proposes a message-driving formalism for the simulation of multi-agent supply chain systems. Through the message-driving formalism, the problem of shared variables is addressed and the parallel operation of agents is implemented. Simulation experiments with a prototype implementation show that the message-driving formalism is able to provide credible results in significantly less simulation time.     

Constrained cooperative control design for distributed morphing wing systems

An efficient design method is proposed for the cooperative control problem of morphing wing systems with distributed structures and bounded control inputs. The multi-agent model of the distributed morphing wing system is established. The cooperative controllers with saturation constraints are presented. By introducing the concepts in consensus algorithms, the cooperative information links in the controllers are described by graphs, and the corresponding Laplacian matrix is defined. The design conditions of the cooperative controllers are proposed, in the form of linear matrix inequalities. For the case of undirected information links, the controller design conditions are simplified as algebraic inequalities, which highly reduce the computation cost. The designed controllers are implemented on a distributed morphing wing platform, and experiments are carried out. Simulation and experiment results show that the controllers can make all the actuating units in the morphing wing system cooperatively achieve the desired positions, which demonstrates the effectiveness of the proposed theory.     

基于虚拟样机技术的航天器配重设计与实现

将航天器的质量、质心和转动惯量调配到一定目标范围内,可以降低航天器姿态控制的难度,提高航天器姿态控制的准确性,利用虚拟样机技术和数值优化技术的相关软件设计了航天器配重仿真优化方法,能够对航天器进行构件设计,仿真装配、动力学分析和可变装配参数优化,能够支持构件可变质量优化和装配位置优化,最后通过空间机器人地面气浮仿真平台的配重实例验证了配重方法的正确性,结果表明该方法可以有效地对航天器进行配重优化。

Abstract：

The mass, centroid and moment of inertia of spacecraft, regulated at a certain target range, can reduce the difficulty and improve accuracy in spacecraft stance control. The relative software of virtual prototyping and numerical optimization techniques were used for designing the methods of simulation and optimization in spacecraft balance. The methods could make spacecraft devised in components, simulation assembly, dynamic analysis and parameter optimization of variable assembly and support the components of variable quality optimization and assembly location optimization. The accuracy of balancing platform was validated by the balancing example of space robot ground floatation simulation platform. The result shows that spacecraft can be effectively balanced and optimized by this method.     

The Separate Meter in Separate Meter Out Control System Using Dual Servo Valves Based on Indirect Adaptive Robust Dynamic Surface Control

Due to the demand for energy efficiency in electro-hydraulic systems, the separate meter in and separate meter out(SMISMO) control system attracts vast attention. In this paper, the SMISMO control system was configured with two servo valves to control the meter in and meter out separately.By designing two of the proposed indirect adaptive robust dynamic surface controllers(IARDSC)for the working-side and off-side system and setting the coupled items as estimated parameters, the SMISMO control system was decoupled into two subsystems completely. Here, indirect adaptive robust control(IARC) was employed to address the internal parameter uncertainties and external disturbances.Dynamic surface control(DSC) was utilized in the backstepping design procedure of IARC to deal with the inherent ‘explosion of terms' problem. As thus, the proposed IARDSC could simplify the design procedure, decrease the computational cost, and achieve an improved control performance in practical use. Finally, experimental results validated the effectiveness of proposed IARDSC and showed that the proposed SMISMO control system could provide a possibility to save more energy.     

Applying process mining approach to support the verification of a multi-agent system

Using agent development tools to construct an agent-based system is a well applied approach.However,the development tools usually do not have the function to check the feasibility about the workflow of the agent system during it implementation stage.Therefore,to develop an evaluation approach to analyze the feasibility of a developing agent system such that the improper workflow of an agent system can be found in the early design stage is a necessary task to reduce the risk of implementation.In this research,a Petri Net(PN) based three-stage evaluation approach was developed.In the conceptual stage,the pitfall of the current agent system developing process was examined and an improvement analysis process was specified.Then,in the system design stage,an evaluation approach which extracted the process log file from a developing agent system into a PN model in terms of a process mining approach-α algorithm was proposed.This model was simulated in a PN simulation package.The agent system performance was evaluated in terms of analyzing the deadlock phenomena of the PN model.Finally,in the implementation stage,the proposed concept was implemented by using an agent developing tool JADE and a PN simulation tool CPN.An agent-based robotic assembly system was used to examine the possible deadlock of the agent system.     

面向自主飞行器的嵌入式计算平台

基于模型的设计方法是目前嵌入式控制系统开发与设计的主流方法,而对嵌入式控制系统模型及其代码正确性的检验是亟待解决的问题。基于平台的设计理论,提出一种面向自主飞行器的嵌入式计算平台,该平台以基于模型的设计方法实现对复杂实时控制系统建模,并且在同一框架下完成模型到代码的自动生成以及对实时控制系统进行不同粒度的检验,即X在环仿真,包括模型在环仿真、软件在环仿真、硬件在环仿真。该平台的提出为嵌入式实时控制系统的开发与设计提供了建模及模型检验的一体化环境,提高嵌入式实时控制系统的开发效率。     

一种新颖的基于生态网络计算的网络仿真平台

基于生态系统的机理，研究了生态网络系统的实现特征，在此基础上设计了一种新颖的基于生态实现计算的生态网络体系结构，其整体框架包括：生态网络软件平台，各种重要组成构件和生态网络结构仿真器等，同时构建了生态网络结构的智能仿真平台，开发了生态网络结构的不同软件包，该平台可用于仿真复杂的大规模的Internet网络服务与应用。     

基于PtolemyⅡ的自主飞行器控制系统代码生成及应用

为解决自主飞行器控制系统设计中存在的复杂的代码制造问题,引入基于计算模型的设计方法,使用适合于控制系统建模的同步数据流计算模型来指导模型中各个模块之间的交互通讯,通过进行静态分析决定模块的执行顺序并能以此产生相应代码。在Ptolemy II图形语言开发环境下,以同步数据流计算模型对自主飞行器实时控制系统进行有效建模,并在此计算模型指导下自动生成代码,而所生成的代码能实施在实时分布式计算平台上,实现自主飞行器单机自主飞行的硬件在环仿真。     

一个视景仿真平台的设计与开发

从功能定位入手,介绍了使用Visual C++基于DirectX SDK设计并实现一个视景仿真软件平台的思路和方法。该平台采用了基于共用内核的双平台总体架构,建立了可重用的框架和二次开发机制,采用功能实体-集合管理-用户界面三层设计模式,提高了代码重用度,在降低问题复杂度的同时提高了开发效率。该视景仿真平台建立了可扩展的可视对象管理机制、实现了中小规模场景的显示优化和高效地形匹配计算、实现了基于粒子系统的烟云、雨雪、爆炸、燃烧等特殊效果的逼真显示以及对于关键帧动画的支持。最后介绍了应用案例。     

基于仿真组件技术的CGF系统体系结构和实现

以仿真组件技术为基础,提出基于仿真组件的计算机生成兵力系统体系结构以及实现方法,介绍了CGF在虚拟测试、评估和先进概念体系结构论证中的应用。通过基于仿真组件技术开发计算机兵力的模型,能够灵活生成多种不同种类的兵力模型和适应不同的运行平台。计算机生成兵力的实体模型分解为设备组件、指控组件、作战平台组件和动作行为模型,利用系统高层建模方法的静态结构建模从兵力组成角度描述设备组件、指控组件和作战平台组件的组合和连接关系,基于状态机动态行为建模建立兵力平台的动作行为模型。通过代码自动生成技术生成仿真组件模型并进行测试,仿真引擎按照动作行为模型的状态调度相应的仿真组件,从而产生作战实体的行为。     

软件总线研究及其在水电仿真系统中的应用

针对复杂系统仿真软件开发中柔性设计和软件复用等问题,提出了基于软件总线体系结构的系统集成方案.并以此为基础,在水电仿真系统的设计实现中应用了该方案.在复杂仿真软件系统设计与实现中采用软件总线体系结构,有利于应对系统扩展和变化,同时也通过松耦合连接使得系统中组件的重用性得到加强.基于软件总线的仿真系统开发体系,易于实现复杂系统的仿真建模与定制实现,直接提高了生产效率和软件质量.     

星载电子系统数字化设计仿真平台

针对卫星数字化设计的趋势,建立起面向任务化、功能化、用户化,集设计、仿真验证、开发于一体的星载电子系统数字化设计仿真平台。该平台以SoC设计方法学为基础,吸收了现有的SoC体系结构研究的成果,将星载电子系统抽象为IP模块并借助FPGA验证平台对系统设计进行验证,集合软件开发平台进行系统开发以及相应的应用软件设计。该平台的建立使星载电子系统数字化设计仿真更为灵活,同时加强对复杂设计的管理,有效的降低星载电子系统设计中的风险,缩短设计周期,降低设计成本。     

基于柔性总线的嵌入系统虚拟平台研究及实现

针对嵌入系统设计过程中普遍存在系统级仿真支持不够、硬件描述手段缺乏、仿真系统可移植性差等问题,提出并实现了一种基于柔性总线的嵌入系统虚拟平台。通过引入柔性总线设计概念,实现嵌入系统底层架构的柔化,在此基础上建立软/硬件协同设计及仿真集成环境和实时并发仿真控制台。平台采用面向实现模型的仿真机制,可迁移应用于不同设计抽象层次。     

基于WEB的建模与仿真(M&S)系统研究

基于WEB仿真是解决已有仿真软件不可移植、缺乏互操作等缺陷的有效途径，对于研究仿真软件的集成与重用具有重要意义。文章首先介绍了当前国际上流行的基于WEB的建模与仿真系统的三种实现类型。对其广泛采用的实现技术-基于COM/DCOM规范的ASP技术和基于CORBA规范的JSP技术的优劣势进行了分析，景德镇于微软软件产品的巨大市场优势，作者从Widnows平台应用的角度，采用组件技术对基于WEB的建模与仿真系统的结构及其组件进行了研究与划分，并以离散事件系统仿真为例，采用ASP技术和ActiveX技术构建了仿真系统软件的三层体系，并将各组件设计为不同类型的ActiveX控件形式。