CN108664751A - A kind of emulation mode, emulation main control platform and the analogue system of more emulator collaborations - Google Patents
A kind of emulation mode, emulation main control platform and the analogue system of more emulator collaborations Download PDFInfo
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Abstract
The present invention provides a kind of emulation mode, emulation main control platform and the analogue systems of more emulator collaborations, including：Determine collaborative simulation step-length；The simulation numerical of the predictive simulation step-length emulator longer than collaborative simulation step-length, the simulation numerical of time is corresponded to as emulator in collaborative simulation step-length；The simulation numerical of itself is sent to other emulators by each emulator, and receives the corresponding simulation numerical of each emulator of other emulators transmission, and each emulator carries out Calculation of PM BLDCM Performance Based according to the simulation numerical of all emulators.Compared with the immediate prior art, collaborative simulation technology provided by the invention can be directed to the different step-lengths of identical or different emulator, collaborative simulation step-length be taken, to realize the efficiency optimization of co-verification；Emulator need and collaborative simulation data/address bus can not provide data at the time of, dynamic prediction is simultaneously inserted into signal data value, effectively improves co-verification efficiency, it is ensured that co-verification collaboration precision and stability.
Description
Technical field
The invention belongs to power electronics field, in particular to a kind of emulation mode of more emulator collaborations, emulation
Main control platform and analogue system.
Background technology
Flexible DC power transmission is one of the Main way of intelligent power grid technology development, and the following flexible DC transmission technology will be to
It multiterminal, networking and higher voltage more capacity direction to develop, conveys voltage and power is up to 500kV/3000MW, compel
The flexible direct current converter valve and high voltage DC breaker for the higher voltage more capacity to be developed that is essential, wherein flexible direct current converter valve
Electric current reaches 3000A, and it is even higher that high voltage DC breaker requires breaking current to reach 18000A.
One of the key of equipment technology development is power electronic devices, and demand of the different equipments to power electronic devices is in
Differentiation trend development, if flexible direct current converter valve needs the insulated gate bipolar transistor IGBT device of low on-state voltage drop, with big
Width reduces the loss of converter valve；High voltage DC breaker needs the IGBT device of high turn-off capacity, to improve the electric current of breaker
Disjunction is horizontal.With the appearance of different type flexible direct current equipment, there is customization demand to device used, and it is existing
IGBT device do not have substantially valid variety classes flexible direct current equipment to be customized to melt hair, greatly reduce equipment
Runnability, it is therefore desirable to flexible direct current converter valve of combining closely turns off low on-state loss, the high of dc circuit breaker
The technical need of ability develops low on-state voltage drop and the two kinds of IGBT device of high turn-off capacity, original device and dress respectively
It sets the opposite research method isolated to be not suitable for, the research method for developing innovation is needed to realize the collaboration wound from device to device
Newly.
High-power IGBT device development is related to power semiconductor physics, circuit, electromagnetic field, heat, mechanical stress, material etc. no
Equidirectional, the simulation means that tradition is mutually isolated have been unable to meet the following higher voltage, more capacity customizes device development and needs
It asks.
When more software collaborations emulate, need to carry out unified Collaborative Control, the logical association of each emulator to each software emulation
With being all to swap data according to fixed step-length between emulation main control platform, but due to the complexity of each emulator solving system
The collaboration step-length of degree and the difference in system operation period, each emulator has very big difference, such as the step-length of electric information
It is usually shorter, it is microsecond to Millisecond, and the step-length of thermal field class is long, is second to minute or even hour grade, this synchronization
Greatest differences in step-length, cause the reduction of collaborative simulation efficiency, while also resulting in collaborative simulation system and convergence occur
Problem is unable to get correct verification result.
Invention content
To overcome the shortcomings of that the above-mentioned prior art is difficult to carry out the different more emulator collaborative simulations of step-length, the present invention proposes
A kind of emulation mode, emulation main control platform and the analogue system of more emulator collaborations.
Solution is used by realizing above-mentioned purpose：
A kind of more emulator collaborative simulation step-lengths determine method, the improvement is that：
The emulator with coupling is determined according to the signal type of each emulator；
According to the minimum simulation step length of the emulator with coupling, collaborative simulation step-length is determined.
First optimal technical scheme provided by the invention, it is improved in that the basis has the emulation of coupling
The minimum simulation step length of device determines collaborative simulation step-length, including：
If the signal type all same of all emulators with coupling, directly selects the minimum in all emulators
Simulation step length is as collaborative simulation step-length；
Otherwise, first the emulator with identical signal type is grouped, and with the minimum simulation step length in every group of group
As communicating step-length in group；Select to communicate step-length between each group in minimum group as collaborative simulation step-length.
A kind of emulation mode of more emulators collaboration based on collaborative simulation step-length, it is improved in that using mostly imitative
True device collaborative simulation step-length determines that method determines collaborative simulation step-length；
The simulation numerical of the predictive simulation step-length emulator longer than the collaborative simulation step-length, is being assisted as the emulator
The simulation numerical of time is corresponded to simulation step length；
The simulation numerical of itself is sent to other emulators by each emulator, and receives each emulation of other emulators transmission
The corresponding simulation numerical of device, each emulator carry out Calculation of PM BLDCM Performance Based according to the simulation numerical of all emulators.
Second optimal technical scheme provided by the invention, it is improved in that the predictive simulation step-length is than the association
With the simulation numerical of the emulator of simulation step length length, the emulation number of time is corresponded in collaborative simulation step-length as the emulator
Value, including：
For the simulation step length emulator longer than the collaborative simulation step-length, using lagrange polynomial to the emulation
Into row interpolation between the data point of device emulation, predict that the emulator corresponds to the simulation numerical of time in collaborative simulation step-length.
Third optimal technical scheme provided by the invention, it is improved in that described use lagrange polynomial pair
Into row interpolation between the data point of the emulator emulation, including：
Interpolation calculation is carried out between the data point emulated to the emulator using following formula：
Wherein, x is the collaborative simulation step-length corresponding time, and y=L (x) is that the emulator being inserted into is walked in collaborative simulation
The simulation numerical of long corresponding time, x ≠ x1,….,xk, lj(x) it is the basic multinomial of Lagrange, as following formula is calculated：
Wherein (x1,y1),….(xj,yj),….(xk,yk) it is the data point that the emulator emulates, k is of data point
Number, x1,….xj….xkThe time point that the emulator is emulated, y are indicated respectively1….yj….ykWhen respectively corresponding to emulation
Between put the numerical value of emulation, m is the mark of data point.
A kind of more emulator collaborative simulation step-lengths determine system, it is improved in that including emulator screening module and
Collaborative simulation step-length module；
The emulator screening module, for determining the emulator with coupling according to the signal type of each emulator；
The collaborative simulation step-length module determines that collaborative simulation walks for the minimum simulation step length according to the emulator with coupling
It is long.
4th optimal technical scheme provided by the invention, it is improved in that the collaborative simulation step-length module includes：
Without grouping subelement and grouping subelement；
It is described then to directly select all emulation for the signal type all same when all emulators without grouping subelement
Minimum simulation step length in device is as collaborative simulation step-length；
The grouping subelement, for when there are signal type difference between emulator, will first have identical class signal
The emulator of type is grouped, and using the minimum simulation step length in every group of group as communication step-length in group；It is selected most between each group
Communication step-length is as collaborative simulation step-length in small group.
A kind of more emulator collaborative simulation main control platforms based on collaborative simulation step-length, it is improved in that including more
Emulator collaborative simulation step-length determines system, further includes numerical prediction module and simulation algorithm model；
The numerical prediction module is used for the emulation number of the predictive simulation step-length emulator longer than the collaborative simulation step-length
Value, the simulation numerical of time is corresponded to as the emulator in collaborative simulation step-length；
The simulation numerical of itself is sent to other emulators by the simulation algorithm model for controlling each emulator, and
The corresponding simulation numerical of each emulator of other emulators transmission, and each emulator of control are received according to all emulators
Calculation of PM BLDCM Performance Based is unfolded in simulation numerical.
5th optimal technical scheme provided by the invention, it is improved in that the numerical prediction module is for emulation
The step-length emulator longer than the collaborative simulation step-length, the data point that the emulator is emulated using lagrange polynomial it
Between into row interpolation, predict that the emulator corresponds to the simulation numerical of time in collaborative simulation step-length.
A kind of analogue system of more emulator collaborations, it is improved in that including：
Multiple emulators；
Router, for realizing the data interaction between each emulator on same computer, the data
Simulation numerical including emulator；And
Collaborative simulation main control platform, for determining the emulator with coupling according to the signal type of each emulator；With
In the minimum simulation step length according to the emulator with coupling, collaborative simulation step-length is determined；Compare institute for predictive simulation step-length
State the simulation numerical of the emulator of collaborative simulation step-length length, the simulation numerical as the emulator corresponding time；It is each for controlling
Data interaction is carried out by router between emulator, and controls simulation numerical of each emulator according to all emulators,
Calculation of PM BLDCM Performance Based is unfolded.
6th optimal technical scheme provided by the invention, it is improved in that further including communication channel between network process；
The router that emulator on different computers is connected by each emulator is logical by being communicated between network process
Realize the data interaction between each emulator in road.
7th optimal technical scheme provided by the invention, it is improved in that the emulator includes：
Submodel data-interface, the interface as Propagation Simulation numerical value between submodel and router；
Submodel, for carrying out simulation calculation, and simulation numerical is shared interior by submodel data-interface input
It deposits；
Shared drive, for storing simulation numerical.
Compared with the immediate prior art, the device have the advantages that as follows：
The present invention determines the collaborative simulation step of the emulator with coupling by determining the emulator with coupling
It is long, it is capable of the simulation numerical of the predictive simulation step-length emulator longer than collaborative simulation step-length, is walked in collaborative simulation as emulator
The simulation numerical of long corresponding time；The simulation numerical of itself is sent to other emulators by each emulator, and receives other emulation
It is imitative to carry out collaboration according to the simulation numerical of all emulators for the corresponding simulation numerical of each emulator that device is sent, each emulator
It is true to calculate.Intelligent emulator step-length simultaneous techniques provided by the invention can be directed to the asynchronous of identical or different emulator
It is long, different collaborative simulation step-lengths is taken, to realize the efficiency optimization of co-verification；Using active data prediction algorithm, imitative
True device needs and collaborative simulation data/address bus at the time of can not provide data, and dynamic prediction is simultaneously inserted into signal data value, effectively carries
High co-verification efficiency, it is ensured that the precision and stability of co-verification collaboration.
It, can using the shared drive of standard, data routing, network communication interface in analogue system provided by the invention
Suitable for connecting the connection between various simulations, number and finite element simulation device；Support same emulator between single machine or network
Or the co-verification of different emulators, the design verification efficiency of significant increase complication system.
Description of the drawings
Fig. 1 is that a kind of more emulator collaborative simulation step-lengths provided by the invention determine method flow schematic diagram；
Fig. 2 is that a kind of more emulator collaborative simulation step-lengths provided by the invention determine that the collaborative simulation step-length in method determines
Technology schematic diagram；
Fig. 3 is a kind of emulation mode flow signal of more emulators collaboration based on collaborative simulation step-length provided by the invention
Figure；
Fig. 4 is the data in a kind of emulation mode of more emulators collaboration based on collaborative simulation step-length provided by the invention
Predicting Technique schematic diagram；
Fig. 5 is data prediction technique effect schematic diagram provided by the invention；
Fig. 6 is that a kind of more emulator collaborative simulation step-lengths provided by the invention determine system structure diagram；
Fig. 7 is that a kind of more emulator collaborative simulation main control platform structures based on collaborative simulation step-length provided by the invention are shown
It is intended to；
Fig. 8 is a kind of analogue system structural schematic diagram of more emulator collaborations provided by the invention.
Specific implementation mode
The specific implementation mode of the present invention is described in further detail below in conjunction with the accompanying drawings.
Embodiment 1：
The present invention provides a kind of more emulator collaborative simulation step-lengths to determine method, and this method flow is as shown in Figure 1, packet
It includes：
Step 101：The emulator with coupling is determined according to the signal type of each emulator；
Step 102：According to the minimum simulation step length of the emulator with coupling, collaborative simulation step-length is determined.
Wherein, step 2 includes：
Step 102-1：If the signal type all same of all emulators with coupling, directly selects all emulation
Minimum simulation step length in device is as collaborative simulation step-length；
Step 102-2：Otherwise, first the emulator with identical signal type is grouped, and in every group of group most
Small simulation step length is as communication step-length in group；Select to communicate step-length between each group in minimum group as collaborative simulation step-length.
By taking Fig. 2 as an example, during collaborative simulation verification, simulation step length that emulator A, B, C is used be distributed as TA, TB,
TC.If TA=TB=TC, router can use TA as synchronous step-length；If TA ≠ TB ≠ TC, TA, TB, TC are used
Minimum value MIN (TA, TB, TC)；If the connection between emulator is grouping, minimum in group imitate is respectively adopted in each group
True step-length, as communicating step-length in group；Using step-length is communicated in minimum group between each group, as collaborative simulation step-length, such as
It is used as in group using MIN (TA, TB) if emulator A and B are one group, between A and B and communicates step-length, i.e., the coordination emulation in group
Step-length, when coordinator A and B is communicated between carrying out group with C, using MIN (MIN (TA, TB), TC) as coordination simulation step length.
Embodiment 2：
The emulation mode for more emulators collaboration based on collaborative simulation step-length that the present invention also provides a kind of, flow is as schemed
Shown in 3, including：
Step 201：Method is determined using more emulator collaborative simulation step-lengths, determines collaborative simulation step-length；
Step 202：The simulation numerical of the predictive simulation step-length emulator longer than collaborative simulation step-length, is being assisted as emulator
The simulation numerical of time is corresponded to simulation step length；
In step 202, for the simulation step length emulator longer than collaborative simulation step-length, using lagrange polynomial to imitative
The simulation numerical of time is corresponded in collaborative simulation step-length into row interpolation, predictive simulation device between the data point of true device emulation.
Step 203：The simulation numerical of itself is sent to other emulators by each emulator, and receives the transmission of other emulators
The corresponding simulation numerical of each emulator, each emulator carries out Calculation of PM BLDCM Performance Based according to the simulation numericals of all emulators.
Active collaboration data prediction technology proposed by the present invention needs each simulation software to provide interaction data in emulator,
And simulation step length longer software passes through data prediction program when can not complete the emulation of a step-length and can not provide data
To for the emulator dynamic prediction and being inserted into signal data value, and the data are passed into other emulation by data router
Device carries out Calculation of PM BLDCM Performance Based.Fig. 4 shows a data prediction technology schematic diagram.With the simulation step length of emulator A than coordinating
For simulation step length length, coordinate simulation step length corresponding time point when reaching, and emulator A can not complete the emulation of a step-length
And data can not be provided, at this time it is predicted that program predicts the simulation numerical of moment emulator A as signal data value, emulator
The data are passed to other emulators by A by data router, carry out Calculation of PM BLDCM Performance Based.
The effect of data prediction technology is as shown in Figure 5.It can be seen that using after data prediction technology signal, signal curve is more flat
It is sliding.
Specifically, data prediction program uses lagrange polynomial between data point into row interpolation, it is assumed that given
Data point to as follows：(x1,y1),….(xj,yj),….(xk,yk), k is the number of data point, x1,….xj….xkTable respectively
Show the time point that emulator is emulated, y1….yj….ykThe numerical value for respectively corresponding to the emulation of simulation time point, then in x1And xk
Between any one point x when, the interpolation calculation formula of y=L (x) is as follows：
Wherein lj(x) it is the basic multinomial of Lagrange, as following formula is calculated：
Wherein, x is the corresponding time x ≠ x of collaborative simulation step-length1~xk, y=L (x) is that the emulator being inserted into is imitated in collaboration
The simulation numerical of true step-length corresponding time.
Lagrange polynomial can carry out extrapolated value to data point simultaneously, below with function y=x2For example, to calculating in advance
Method illustrates.Assuming that known：
x1=1, f (x1)=1；x2=2, f (x2)=4；x3=3, f (x3)=9.
Then corresponding lagrange polynomial is：
At this time if necessary to extrapolation x4Y when=3.54Value, then the result of calculation of lagrange polynomial is as follows：
It can be seen that the result extrapolated using lagrange polynomial algorithm is consistent with practical formula result of calculation.
Embodiment 3：
The present invention also provides a kind of more emulator collaborative simulation step-lengths to determine system, and the system structure is as shown in fig. 6, packet
Include emulator screening module and collaborative simulation step-length module；
Emulator screening module, for determining the emulator with coupling according to the signal type of each emulator；Collaboration
Simulation step length module determines collaborative simulation step-length for the minimum simulation step length according to the emulator with coupling.
Wherein, collaborative simulation step-length module includes：Without grouping subelement and grouping subelement；
It is then directly selected in all emulators for the signal type all same when all emulators without grouping subelement
Minimum simulation step length as collaborative simulation step-length；
It is grouped subelement, it, first will be with identical signal type for when there are signal type difference between emulator
Emulator is grouped, and using the minimum simulation step length in every group of group as communication step-length in group；Minimum is selected between each group
Communication step-length is as collaborative simulation step-length in group.
Embodiment 4：
The present invention also provides a kind of more emulator collaborative simulation main control platforms based on collaborative simulation step-length, the platform knot
Structure is as shown in fig. 7, comprises collaborative simulation step-length determines system and numerical prediction module and simulation algorithm model；
Numerical prediction module is used for the simulation numerical of the predictive simulation step-length emulator longer than collaborative simulation step-length, as
Emulator corresponds to the simulation numerical of time in collaborative simulation step-length；
The simulation numerical of itself is sent to other emulators for controlling each emulator, and received by simulation algorithm model
The corresponding simulation numerical of each emulator that other emulators are sent, and each emulator of control is according to the emulation of all emulators
Calculation of PM BLDCM Performance Based is unfolded in numerical value.
Wherein, numerical prediction module is more using Lagrange for the simulation step length emulator longer than collaborative simulation step-length
The emulation number of time is corresponded in collaborative simulation step-length into row interpolation, predictive simulation device between the data point that item formula emulates emulator
Value.
Wherein, into row interpolation formula institute specific as follows between the data point emulated to emulator using lagrange polynomial
Show：
Wherein, x is the collaborative simulation step-length corresponding time, and y=L (x) is the emulator of insertion in collaborative simulation step-length pair
The simulation numerical for the time answered, x ≠ x1,….,xk, lj(x) it is the basic multinomial of Lagrange, as following formula is calculated：
Wherein (x1,y1),….(xj,yj),….(xk,yk) it is the data point that emulator emulates, k is the number of data point,
x1,….xj….xkThe time point that emulator is emulated, y are indicated respectively1….yj….ykIt is imitative respectively to correspond to simulation time point
Genuine numerical value, m are the mark of data point.
Embodiment 5：
The present invention also provides a kind of analogue systems of more emulator collaborations, and structural schematic diagram is as shown in figure 8, including more
A emulator；
Router, for realizing the data interaction between each emulator on same computer, data include
The simulation numerical of emulator；And
Collaborative simulation main control platform, for determining the emulator with coupling according to the signal type of each emulator；With
In the minimum simulation step length of the emulator with coupling, collaborative simulation step-length is determined,；It is more imitative than collaboration for predictive simulation step-length
The simulation numerical of the emulator of true step-length length, the simulation numerical as the emulator corresponding time；For control each emulator it
Between data interaction, and each emulator of control carried out according to the simulation numerical of all emulators, expansion collaboration by router
Simulation calculation.
Wherein, which further includes communication channel between network process；
The router that emulator on different computers is connected by each emulator is logical by being communicated between network process
Realize the data interaction between each emulator in road.
Wherein, emulator includes：
Submodel data-interface, the interface as Propagation Simulation numerical value between submodel and router；
Submodel inputs shared drive for carrying out simulation calculation, and by simulation numerical by submodel data-interface；
Shared drive, for storing simulation numerical.
Emulator is sequentially connected and is formed by submodel, model data interface and shared drive.Model data interface is by each
The standard api interface that professional emulator is announced is developed, and when emulator calls submodel by model data interface, can be started
Shared-memory management program inside model, for realizing the storage and management of correlated signal data.Shared drive and data road
It is connected by device, data router is responsible for sending the format for reading data and being converted to needs, while also receiving outside
To data switch to need format be written shared drive, pass to emulator carry out next step solution.If emulator is located at
On same computer, then the data transmission work being done directly by same router between emulator, if emulator is located at not
On same computer, then pass through the data exchange work between network process between communication channel realization emulator by different routers
Make.
Finally it should be noted that:Above example is merely to illustrate the technical solution of the application rather than to its protection domain
Limitation, although the application is described in detail with reference to above-described embodiment, those of ordinary skill in the art should
Understand:Those skilled in the art read the specific implementation mode of application can still be carried out after the application various changes, modification or
Person's equivalent replacement, but these changes, modification or equivalent replacement, are applying within pending claims.
Claims (12)
1. a kind of more emulator collaborative simulation step-lengths determine method, it is characterised in that：
The emulator with coupling is determined according to the signal type of each emulator；
According to the minimum simulation step length of the emulator with coupling, collaborative simulation step-length is determined.
2. the method as described in claim 1, which is characterized in that the basis has the minimum emulation step of the emulator of coupling
It is long, determine collaborative simulation step-length, including：
If the signal type all same of all emulators with coupling, the minimum emulation in all emulators is directly selected
Step-length is as collaborative simulation step-length；
Otherwise, first the emulator with identical signal type is grouped, and using the minimum simulation step length in every group of group as
Step-length is communicated in group；Select to communicate step-length between each group in minimum group as collaborative simulation step-length.
3. a kind of emulation mode of more emulators collaboration based on collaborative simulation step-length, it is characterised in that：
Using method as claimed in claim 1 or 2, collaborative simulation step-length is determined；
The simulation numerical of the predictive simulation step-length emulator longer than the collaborative simulation step-length, it is imitative in collaboration as the emulator
True step-length corresponds to the simulation numerical of time；
The simulation numerical of itself is sent to other emulators by each emulator, and receives each emulator pair of other emulators transmission
The simulation numerical answered, each emulator carry out Calculation of PM BLDCM Performance Based according to the simulation numerical of all emulators.
4. method as claimed in claim 3, which is characterized in that the predictive simulation step-length is longer than the collaborative simulation step-length
The simulation numerical of emulator corresponds to the simulation numerical of time as the emulator in collaborative simulation step-length, including：
It is imitative to the emulator using lagrange polynomial for the simulation step length emulator longer than the collaborative simulation step-length
Into row interpolation between genuine data point, predict that the emulator corresponds to the simulation numerical of time in collaborative simulation step-length.
5. method as claimed in claim 4, which is characterized in that described to be emulated to the emulator using lagrange polynomial
Data point between into row interpolation, including：
Interpolation calculation is carried out between the data point emulated to the emulator using following formula：
Wherein, x is the collaborative simulation step-length corresponding time, and y=L (x) is the emulator of insertion in collaborative simulation step-length pair
The simulation numerical for the time answered, x ≠ x1,….,xk, lj(x) it is the basic multinomial of Lagrange, as following formula is calculated：
Wherein (x1,y1),….(xj,yj),….(xk,yk) it is the data point that the emulator emulates, k is the number of data point,
x1,….xj….xkThe time point that the emulator is emulated, y are indicated respectively1….yj….ykRespectively correspond to simulation time
The numerical value of point emulation, m are the mark of data point.
6. a kind of more emulator collaborative simulation step-lengths determine system, which is characterized in that imitative including emulator screening module and collaboration
True step-length module；
The emulator screening module, for determining the emulator with coupling according to the signal type of each emulator；It is described
Collaborative simulation step-length module determines collaborative simulation step-length for the minimum simulation step length according to the emulator with coupling.
7. system as claimed in claim 6, which is characterized in that the collaborative simulation step-length module includes：Without grouping subelement
With grouping subelement；
It is described then to be directly selected in all emulators for the signal type all same when all emulators without grouping subelement
Minimum simulation step length as collaborative simulation step-length；
The grouping subelement first will be with identical signal type for when there are signal type difference between emulator
Emulator is grouped, and using the minimum simulation step length in every group of group as communication step-length in group；Minimum is selected between each group
Communication step-length is as collaborative simulation step-length in group.
8. a kind of more emulator collaborative simulation main control platforms based on collaborative simulation step-length, which is characterized in that wanted including such as right
It asks the collaborative simulation step-length described in 6 or 7 to determine system, further includes numerical prediction module and simulation algorithm model；
The numerical prediction module is used for the simulation numerical of the predictive simulation step-length emulator longer than the collaborative simulation step-length,
The simulation numerical of time is corresponded in collaborative simulation step-length as the emulator；
The simulation numerical of itself is sent to other emulators for controlling each emulator, and received by the simulation algorithm model
The corresponding simulation numerical of each emulator that other emulators are sent, and each emulator of control is according to the emulation of all emulators
Calculation of PM BLDCM Performance Based is unfolded in numerical value.
9. collaborative simulation main control platform as claimed in claim 8, which is characterized in that the numerical prediction module is walked for emulation
The long emulator longer than the collaborative simulation step-length, between the data point emulated to the emulator using lagrange polynomial
Into row interpolation, predict that the emulator corresponds to the simulation numerical of time in collaborative simulation step-length.
10. a kind of analogue system of more emulator collaborations, which is characterized in that including：
Multiple emulators；
Router, for realizing the data interaction between each emulator on same computer, the data include
The simulation numerical of emulator；And
Collaborative simulation main control platform, for determining the emulator with coupling according to the signal type of each emulator；For root
According to the minimum simulation step length of the emulator with coupling, collaborative simulation step-length is determined；For predictive simulation step-length than the association
With the simulation numerical of the emulator of simulation step length length, the simulation numerical as the emulator corresponding time；For controlling each emulation
Data interaction, and each emulator of control are carried out according to the simulation numerical of all emulators, expansion by router between device
Calculation of PM BLDCM Performance Based.
11. system as claimed in claim 10, which is characterized in that further include communication channel between network process；
The router that emulator on different computers is connected by each emulator is real by communication channel between network process
The now data interaction between each emulator.
12. the system as described in claim 10 or 11, which is characterized in that the emulator includes：
Submodel data-interface, the interface as Propagation Simulation numerical value between submodel and router；
Submodel inputs shared drive for carrying out simulation calculation, and by simulation numerical by the submodel data-interface；
Shared drive, for storing simulation numerical.
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