Research On Intelligent Cyber-Physical Systems Co-simulation Technology

Intelligent Cyber-Physical Systems(ICPS),are a novel type of complex systems that integrate technologies from the domains of physics,information,and artificial intelligence.They have been widely applied in various fields such as intelligent transportation,smart cities,healthcare,smart homes,aerospace,and offshore exploration.Due to the integration of multiple disciplines,ICPS exhibit characteristics such as uncertainty,heterogeneity,complexity,and diversity.Therefore,simulation analysis using collaborative simulation techniques is necessary for such systems.Traditional collaborative simulation methods lack precision in describing the temporal semantics of interaction models.Moreover,there exists a trade-off between simulation accuracy and efficiency in the synchronization protocols among simulators.To address these issues,this paper investigates and proposes a collaborative simulation method based on ICPS.The main contributions of this paper are as follows:(1)A collaborative simulation framework based on ICPS is proposed,and a corresponding collaborative simulation experimental platform is constructed.Within this framework,physical simulation models,information simulation models,and interaction models are designed.(2)Basic temporal interaction types for interaction models are identified,and a time-based interaction type based on the Age of Information(AoI)mechanism is proposed to address the issue of information aging in ICPS.Simulation experiments with different interaction types are conducted using an indoor human tracking scenario with intelligent robots in the collaborative simulation experimental platform.The results indicate that information aging has an impact on the simulation results of ICPS,and different temporal interaction types provide the system with varying degrees of useful information.(3)Three time synchronization protocols,namely,time-stepped,global event-driven,and variable-step methods,are proposed to address the synchronization problem among simulators.The performance of these protocols in terms of simulation efficiency and accuracy is evaluated in the collaborative simulation experiments.The results show that the three time synchronization protocols exhibit different performance characteristics in terms of efficiency and accuracy,and the proposed protocols achieve a trade-off between simulation efficiency and accuracy for specific scenarios.(4)Furthermore,a physical experimental platform based on Robomaster EP is established.By comparing the simulation and physical experimental data,the effectiveness and feasibility of the time decision-based interaction type using the AoI mechanism in capturing information aging are verified.Additionally,the validity and feasibility of the proposed collaborative simulation method are further confirmed.