CN-121979182-A - Test method and device for distributed autonomous operation system

CN121979182ACN 121979182 ACN121979182 ACN 121979182ACN-121979182-A

Abstract

The invention discloses a testing method and a testing device for a distributed autonomous running system, in particular to the technical field of industrial control systems, and the method comprises the steps of embedding a tested object into a simulation environment as a function library, setting a system reference clock of the testing system as a super real-time clock reference, and performing simulation test on the tested object at a speed higher than physical time by utilizing a preset quantity of randomly generated data in a mode of shielding the time consumption of bottom I/O communication; the method comprises the steps of encapsulating control algorithm source codes into a virtual container, injecting virtual driving piles into the virtual container, performing communication test, deploying software mirror images to an entity controller, verifying the electrical characteristics and physical I/O response of the entity controller in a hard real-time closed-loop mode, constructing a wide-area collaborative simulation scene, enabling a plurality of tested nodes to be simultaneously connected into the same multi-state physical simulation core, and calculating the coupling influence of the actions of the tested nodes on a shared physical environment in real time through the multi-state physical simulation core.

Inventors

LEI XIAOHUI
ZHANG PENGJIE
LONG YAN
CHEN KAIGE
WANG XIAOQUN

Assignees

河北工程大学

Dates

Publication Date: 20260505
Application Date: 20260210

Claims (10)

1. A testing method for a distributed autonomous operating system, which is applied to a testing system, the method comprising: Embedding a tested object into a simulation environment as a function library, setting a system reference clock of the test system as a super real-time clock reference, and performing simulation test on the tested object by using a preset quantity of randomly generated data at a speed higher than physical time in a manner of shielding time consuming of bottom I/O communication so as to obtain a control algorithm source code verified by algorithm logic; Encapsulating the control algorithm source code into a virtual container, injecting a virtual driving pile into the virtual container, and performing communication test to obtain a software mirror image; deploying the software image to an entity controller, and verifying the electrical characteristics and physical I/O response of the entity controller in a hard real-time closed-loop mode; constructing a wide-area collaborative simulation scene, simultaneously accessing a plurality of tested nodes into the same multi-state physical simulation kernel, calculating the coupling influence of the actions of the plurality of tested nodes on a shared physical environment in real time through the multi-state physical simulation kernel, and feeding back the coupling influence to each tested node to form closed-loop control; the plurality of detected nodes are mixed in a heterogeneous mode and at least comprise a virtual container node corresponding to the virtual container and an entity controller node corresponding to the entity controller.
2. The method of claim 1, wherein calculating, in real time, coupling effects of the plurality of node under test actions on a shared physical environment by the multi-state physical simulation kernel comprises: When the virtual container node triggers actions and excites physical waves in the polymorphic physical simulation kernel, calculating the time-space hysteresis quantity and the energy attenuation value required by the physical waves to propagate to the node position of the entity controller in real time based on a physical model; and when the simulation time reaches the space-time lag, reconstructing the calculated physical wave value into an analog physical signal through a virtual-real mapping interface layer of the test system and injecting the analog physical signal into the entity controller so as to trigger the physical response of the entity controller.
3. The method of claim 1, wherein the constructing a wide-area co-simulation scenario comprises: Taking the crystal oscillation time of the entity controller or the hard real-time step length of the polymorphic physical simulation kernel as a global reference; The server system clock running the virtual container node is dynamically calibrated based on a precision time protocol.
4. The method of claim 1, wherein the super real time clock reference is set to 10 to 100 times physical time, wherein, Performing simulation test on the tested object at a speed higher than the physical time by using a preset amount of randomly generated data, wherein the simulation test comprises the following steps: and generating a random boundary condition by using a Monte Carlo method, and traversing working conditions in a preset period to obtain the random generated data.
5. The method of claim 2, wherein the calculating in real time the amount of space-time lag required for the physical wave to propagate to the physical controller node location comprises: Acquiring the propagation speed of transient pressure waves or fluid waves in a pipe network caused by the action of the virtual container nodes; acquiring physical transmission path lengths of the virtual container node and the entity controller node in a topology network corresponding to the plurality of detected nodes; the amount of space-time delay is determined based on the physical transmission path length and the propagation speed.
6. The method of claim 2, wherein reconstructing the calculated physical wave values into analog physical signals by the virtual-to-real mapping interface layer of the test system and injecting the analog physical signals into the physical controller comprises: receiving digital waveform data from the polymorphic physical simulation kernel through the physical signal adapter of the virtual-real mapping interface layer; converting the digital waveform data into industry standard analog quantities; And loading the industrial standard analog quantity to a sensor input terminal of the entity controller in real time through hard wiring of the virtual-real mapping interface layer to simulate physical impact.
7. A test device for a distributed autonomous operating system, the test device being adapted for use in a test system, the device comprising: The first test module is used for embedding a tested object into a simulation environment as a function library, setting a system reference clock of the test system as a super real-time clock reference, and performing simulation test on the tested object at a speed higher than physical time by utilizing a preset quantity of randomly generated data in a manner of shielding time consuming of bottom I/O communication so as to obtain a control algorithm source code verified by algorithm logic; The second test module is used for encapsulating the control algorithm source code into a virtual container, injecting a virtual driving pile into the virtual container and performing communication test to obtain a software mirror image; The third test module is used for deploying the software mirror image to the entity controller and verifying the electrical characteristics and the physical I/O response of the entity controller in a hard real-time closed-loop mode; The fourth test module is used for constructing a wide-area collaborative simulation scene, simultaneously connecting a plurality of tested nodes into the same multi-state physical simulation kernel, calculating the coupling influence of the actions of the plurality of tested nodes on the shared physical environment in real time through the multi-state physical simulation kernel, and feeding back the coupling influence to each tested node to form closed-loop control; the plurality of detected nodes are mixed in a heterogeneous mode and at least comprise a virtual container node corresponding to the virtual container and an entity controller node corresponding to the entity controller.
8. The apparatus of claim 7, wherein the fourth test module comprises: The first processing submodule is used for calculating the time-space hysteresis quantity and the energy attenuation value required by the physical wave to propagate to the node position of the entity controller in real time based on a physical model when the virtual container node triggers actions and excites the physical wave in the polymorphic physical simulation kernel; And the second processing sub-module is used for reconstructing the calculated physical wave value into an analog physical signal through the virtual-real mapping interface layer of the test system and injecting the analog physical signal into the entity controller when the simulation time reaches the space-time lag amount so as to trigger the physical response of the entity controller.
9. An electronic device, comprising: at least one processor, and A memory communicatively coupled to the at least one processor, wherein, The memory stores instructions executable by the at least one processor to enable the at least one processor to perform the distributed autonomous system oriented testing method of any of claims 1-6.
10. A computer readable storage medium storing a computer program, wherein the computer program when executed by a processor implements the distributed autonomous operating system oriented testing method of any of claims 1 to 6.

Description

Test method and device for distributed autonomous operation system Technical Field The invention relates to the technical field of industrial control systems, in particular to a testing method and device for a distributed autonomous operating system. Background Large-scale water conservancy etc. distributed autonomous systems have wide-area physical coupling and long time evolution (e.g., 72 hour floods) features. The prior art is faced with two major bottlenecks: Firstly, the time dimension verification efficiency is low, the hardware in the ring HIL is limited by a hard real-time clock, the traversal of long-period mass working conditions can not be completed in a limited time, and the cumulative policy defects are difficult to capture. And secondly, the space dimension virtual-real coupling distortion is generated, the traditional hybrid test only carries out data transmission, and space-Time lag (Time of Flight) and energy attenuation caused by physical medium transmission cannot be reproduced, so that verification failure of wide-area cooperative response is caused. In addition, from algorithm verification to hardware deployment, code is often rewritten, and asset fracturing is severe. Therefore, the above problems need to be solved. The information disclosed in this background section is only for enhancement of understanding of the general background of the invention and should not be taken as an acknowledgement or any form of suggestion that this information forms the prior art already known to a person of ordinary skill in the art. Disclosure of Invention The invention aims to solve the problems of low time dimension verification efficiency and space dimension virtual-real coupling distortion in the prior art, and provides a testing method and device for a distributed autonomous operation system. The first aspect of the invention provides a test method for a distributed autonomous operation system, which is applied to a test system, and comprises the steps of embedding a tested object into a simulation environment as a function library, setting a system reference clock of the test system as a super real-time clock reference, conducting simulation test on the tested object by shielding a bottom I/O communication time consuming mode and utilizing a preset quantity of randomly generated data at a speed higher than physical time to obtain control algorithm source codes verified by algorithm logic, packaging the control algorithm source codes into a virtual container, injecting virtual driving piles into the virtual container and conducting communication test to obtain a software mirror image, deploying the software mirror image into an entity controller, verifying the electrical characteristics and physical I/O response of the entity controller in a hard real-time closed-loop mode, constructing a wide area collaborative simulation scene, simultaneously accessing a plurality of tested nodes into the same polymorphic physical simulation kernel, calculating the coupling influence of actions of the tested nodes on a shared physical environment in real time through the polymorphic physical simulation kernel, and feeding back the control algorithm source codes to each tested node to form a closed-loop control mode, wherein the heterogeneous nodes correspond to at least one virtual container. In one embodiment of the invention, the coupling influence of the actions of the plurality of detected nodes on the shared physical environment is calculated in real time through the multi-state physical simulation kernel, wherein the coupling influence comprises the time-space hysteresis quantity and the energy attenuation value required by the physical wave to propagate to the node position of the entity controller based on a physical model when the virtual container node triggers the actions and excites the physical wave in the multi-state physical simulation kernel, and the calculated physical wave value is reconstructed into an analog physical signal through a virtual-real mapping interface layer of the test system and is injected into the entity controller to trigger the physical response of the entity controller when the simulation time reaches the time-space hysteresis quantity. In one embodiment of the invention, the construction of the wide-area co-simulation scene comprises taking the crystal oscillator time of the entity controller or the hard real-time step length of the polymorphic physical simulation kernel as a global reference and dynamically calibrating a server system clock running the virtual container node based on an accurate time protocol. In one embodiment of the invention, the super real-time clock reference is set to be 10 to 100 times of the physical time, wherein the simulation test is performed on the tested object at a speed higher than the physical time by utilizing a preset quantity of randomly generated data, and the simulation test comprises the steps of automatically generating random bo