CN109001986A - A kind of networking flexible mechanical arm control emulation platform and its working method - Google Patents
A kind of networking flexible mechanical arm control emulation platform and its working method Download PDFInfo
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Abstract
The present invention relates to a kind of networking flexible mechanical arm control emulation platform and its working methods, including flexible mechanical arm mathematical model, controller and parameter setting module and remote supervision system；The flexible mechanical arm mathematical model realizes the transmission of data by memory read-write and controller and parameter setting module, it is connected between controller and parameter setting module and remote supervision system by Ethernet, sends and receives work based on TCP/IP communication agreement progress data.User input controller and each control parameter and model parameter of parameter setting system on the human-computer interaction interface of remote supervision system, by clicking each function button, carry out network communication, parameter, operating simulation system and the state for passing through remote supervision system real-time monitoring parameters of remotely located flexible mechanical arm mathematical model；User can also direct local operation controller and parameter setting system progress simulation work.
Description
Technical field
The present invention relates to a kind of emulation technology of mechanical arm, it is especially a kind of for flexible mechanical arm based on TCP/IP's
Control based on network emulation platform and its working method, belong to mobile communication technology field.
Background technique
Flexible mechanical arm is analyzed as Flexible Multibody System Dynamics and the most direct application of control theory research,
Have the characteristics that concise physical model and is easy to computer and mock-up test realization.It is soft from the 1990s
Property mechanical arm modeling and simulation research cause the extensive concern of domestic and international experts and scholars.It is directed to Rigid Robot Manipulator so far
The research of control has formd the control theory of many maturations.
Cybernatic development in an all-round way provides all more options, especially neural network for flexible mechanical arm control algorithm design
The nonlinear Controls such as control, fuzzy control, hybrid intelligent control scheduling theory is all introduced flexible mechanical arm to some extent and is controlled
The design field of device.It needs repeatedly to carry out control effect during developing traditional flexible mechanical arm early period to investment engineering practice
Fruit test, test period is long, and can not update calculation when product cannot be guaranteed that control method meets safety and high efficiency requirement
Method needs to redesign flexible mechanical arm to generate the wasting of resources.
In recent decades, computer technology is own through becoming the necessary tool of many field of scientific studies, and with mathematical theory
Based on, using computer and various physical facilities as ancillary equipment, analog simulation model is established to system that is actual or imagining
The method for carrying out test simulation research has been increasingly becoming most common method in each sphere of learning research process.Utilize calculating
Machine emulation technology, the parameter of control system can be reseted at any time in design process early period, can in advance really by simulation result
Determine the reasonability of mechanical arm design, this method has long-range help in terms of the theoretical research of flexible mechanical arm.
The domestic method for realizing flexible mechanical arm emulation at this stage is mostly software Direct Modeling.For example, in ADAMS software
The middle physical model for establishing flexible mechanical arm, and design controller realizes associative simulation in MATLAB/Simulink environment；
Or flexible multibody is modeled and realizes Two Links Flexible Manipulator using Finite segment method under DADS software environment
Dynamics simulation；Or MapleSim multi-domain simulation Modeling Platform is used in the modeling of flexible mechanical arm, by Maple ring
The programming mode of border Functionalization realizes branch's design of flexible mechanical arm.But the structure of above-mentioned flexible mechanical arm analogue system
Very complicated, parameter reset difficulty is big, and it is poor that there are also interactivity, and emulation data are not easy the problem of observation is with processing.
In conclusion flexible mechanical arm control emulation platform at this stage is primarily present following problems:
1, emulation platform man-machine interaction is poor, and operation logic is complicated.
2, simulation number is big, and the record of clear data is not easy to analysis work.
3, parameter modification difficulty is big, need to redesign to analogue system.
4, place to use is limited to, and is merely able to be localized operation.
Summary of the invention
It is an object of the invention to: in view of the defects existing in the prior art, propose a kind of networking flexible mechanical arm control
Emulation platform and its working method, using graphical human-computer interaction interface as principal mode, selected with flexible mechanical arm control algolithm,
The setting of mathematical model remote parameter, parameter state and simulation curve remote real time monitoring are major function, realize flexible mechanical arm
The emulation platform that control algolithm is quickly tested.
In order to reach the goals above, the present invention provides a kind of networking flexible mechanical arms to control emulation platform, including soft
Property mechanical arm mathematical model (1), controller and parameter setting module (2) and remote supervision system (3)；The flexible mechanical arm number
Learn the transmission that model (1) realizes data by memory read-write (4) and controller and parameter setting module (2), controller and parameter
It is connect between setup module (2) and remote supervision system (3) by Ethernet, carries out data based on TCP/IP communication agreement (5)
Send and receive work；
The flexible mechanical arm mathematical model is the mathematical model for the controlled device built based on Simulink, including flexibility
The mathematic(al) representation and data of mechanical arm send and receive module；The controller and parameter setting module include parameter setting mould
Control parameter and model parameter is arranged in block, control program selection and realization module, user according to actual needs, and selects corresponding
Control method, the control method includes but is not limited to PID control, ANN Control, sliding formwork control, fuzzy control, Shandong
Stick control, self adaptive control and PREDICTIVE CONTROL etc.；The remote monitoring system gives controller by telecommunication and parameter is set
The parameters of module are set, and parameter state and simulation scenarios progress real-time monitoring to flexible mechanical arm mathematical model.
Of the invention further limits technical solution are as follows: the flexible mechanical arm mathematical model is controlled flexible mechanical arm
Mathematical model expression formula establishes the flexible mechanical arm mathematical model of two-freedom using mechanical relationship, and the expression formula is as follows:
Wherein, q and qmRespectively indicate the Angle Position of connecting rod and rotor；I and J respectively indicates connecting rod and the rotation of rotor is used
Amount；K represents joint stiffness coefficient；M, g, l respectively indicate connecting rod quality, acceleration of gravity and connecting rod center to joint length；U table
Show that motor torque inputs.The flexible mechanical mathematical model include flexible mechanical arm model mathematic(al) representation and data send with
Receiving module, the mathematic(al) representation are stored as monofile in a manner of S function and are responsible for artificial tasks, and the data send and receive
Module is responsible for linking the transmission task for realizing Simulation result data with emulation platform main interface.
Further, the controller and parameter setting system include control program selection and realization module, desired trajectory
Setup module and parameter setting module；The control program selection and realization module are responsible for determining the control algolithm used, it is expected that
Track setup module is responsible for the simulating sports track of given controlled device, and parameter setting module is responsible for the items of given analogue system
Control parameter and model parameter.
The program that the controller and parameter setting system are write based on GUI selects comprising control program and realizes module,
And parameter setting module；The control program selection and realization module setting need control algolithm to be used, the control algolithm
Including but not limited to PID control, ANN Control, sliding formwork control, fuzzy control, robust control, self adaptive control and prediction
Control；The parameter setting module provides the set interface of every control parameter and model parameter.
Further, the remote supervision system includes that remote parameter gives module and parameter state display module, described
Parameters remote, which gives module, to be responsible for establishing the communication with controller and parameter setting module, realizes control parameter and model parameter
The long-range given real-time reception with emulation data；Parameter state display module is responsible for realizing that analogue system parameters and emulation are bent
The real-time display of line real-time status.
The remote supervision system remotely gives the parameters of controller and parameter setting system based on Ethernet, passes through
Numerical approach is shown by way of DYNAMIC DRAWING to show the value of each input parameter and is respectively observed quantity of state, including control
The curve of rule, simulation control subsystem output state value and observer output valve is realized to each parameter of analogue system and simulation result
Real-time monitoring.
A kind of working method of networking flexible mechanical arm control emulation platform, includes the following steps,
Step 1, start remote supervision system, run main interface；Click the long-range control of controller and parameter setting system
The linking button of button and remote supervision system starts telework mode, or is directly opened using controller and parameter setting system
Dynamic local operating mode；Wherein step 2 to step 6 is telework mode；
Step 2, selection needs control algolithm to be used, clicks corresponding GUI call buttons on remote supervision system, calls
Corresponding sub-interface, and close current interface；
Step 3, in the subsystem interfaces of remote supervision system, analogue system is inputted by remote parameter setup module
Every model parameter and control parameter；
Step 4, starting emulation, the parameter state display module of remote supervision system are responsible for what calling telecommunication received
Emulation data realize the drafting of each quantity of state and simulation curve；
Step 5, user responds according to feedback information, realizes required subsequent operation, returns to upper level main interface；
Step 6, the above process is repeated until terminating.
The invention adopts the above technical scheme compared with prior art, has following technical effect that the present invention with graphical
Human-computer interaction interface is principal mode, with the selection of flexible mechanical arm control algolithm, mathematical model parameter setting, parameter state and is imitated
True curve real-time display is major function, realizes the emulation platform that flexible mechanical arm control algolithm is quickly tested.
The present invention can allow user, and the movement desired trajectory of any given flexible mechanical arm, setting are imitative according to the design needs
The each control parameter and model parameter of true platform；The use of emulation platform is not limited by time, place, and user can basis
It needs to carry out simulation work at any time；User can choose various control algorithm and carry out emulation experiment, shorten control algolithm
Testing time；User can with access control system design reliability, avoid because flexible mechanical arm parameter designing fault and
The wasting of resources of generation and the safety problem of designer.
Detailed description of the invention
The present invention will be further described below with reference to the drawings.
Fig. 1 is structural schematic diagram of the invention.
Specific embodiment
A kind of networking flexible mechanical arm control emulation platform is present embodiments provided, the emulation platform is logical based on TCP/IP
Believe agreement, including flexible mechanical arm mathematical model 1, controller and parameter setting module 2 and remote supervision system 3.
Wherein, flexible mechanical arm mathematical model realizes data by memory read-write 4 and controller and parameter setting module
Transmission is connected between controller and parameter setting module and remote supervision system by Ethernet, and TCP/IP communication agreement 5 is based on
Carry out data sends and receives work.
Meanwhile flexible mechanical arm mathematical model is the mathematical model for the controlled flexible mechanical arm built based on Simulink,
Model mathematic(al) representation and data including flexible mechanical arm send and receive module.Mathematic(al) representation is stored in a manner of S function
It is responsible for mathematical simulation task for monofile, and data send and receive module and are responsible for linking realization emulation with emulation platform main interface
The transmission task of result data.
Controller and parameter setting system include control program selection and realization module, desired trajectory setup module and parameter
Setup module.Control program selection and realization module are responsible for determining the control algolithm used, such as PID control, sliding formwork control, and
Desired trajectory setup module is responsible for the simulating sports track of given controlled device, and parameter setting module is then responsible for given analogue system
Every control parameter and model parameter.
Remote monitoring system includes that remote parameter gives module, parameter state display module, can be given by telecommunication
The parameters of controller and parameter setting system, and parameter state and simulation scenarios progress to flexible mechanical arm mathematical model
Real-time monitoring.
Each module embodiment of the invention is as follows:
1, flexible mechanical arm mathematical model working principle
The mathematical model that flexible mechanical arm is established based on Simulink programmed environment, is responsible for data in the form of S function
Handle work.The input and output of processing function and data that module is included are realized by the instruction of corresponding M file.Mathematical modulo
Type equation such as following formula:
Wherein, q and qmRespectively indicate the Angle Position of connecting rod and rotor；I and J respectively indicates connecting rod and the rotation of rotor is used
Amount；K represents joint stiffness coefficient；M, g, l respectively indicate connecting rod quality, acceleration of gravity and connecting rod center to joint length；U table
Show that motor torque inputs.
2, controller and parameter setting system working principle
Controller and parameter setting system include control program selection and realization module, desired trajectory setup module and parameter
Setup module.The present invention includes that four group control method of two major classes is available, including STATE FEEDBACK CONTROL, output feedback are controlled
System, robust state feedback control, robust output feedback control.Need subsystem interfaces to be used that control can be completed by selection
The selection of scheme.
Control program selection and realization module source code are as follows:
set_param('chap8_2sim/Constant','value','1')；
load_system('chap8_2sim')；
sim('chap8_2sim')；
set_param('chap8_2sim','StopTime','0')；
Desired trajectory setup module provides the setting method of flexible mechanical arm target trajectory for user, passes through choosing
The track mathematical function used is selected, realizes that flexible mechanical arm emulation desired trajectory is given, user can need to change according to emulation
Module occurs for the function of Simulink, it would be desirable to which track is set as the tracing waveforms such as square wave, triangular wave.This project is preset as sine
Waveform.
Parameter setting module provides the setting window of flexible mechanical arm parameters for user, and user is in controller
And the value of control parameter needed for inputting each emulation at the parameter setting window of parameter setting system can be realized parameters to
It is fixed.
Control parameter setup module source code:
global Mgl
global I
global J
global K
global xite
Mgl=get (handles.edit24, ' string')；
Goes='='；
Wget1=[' xite', goes, get (handles.edit20, ' string'), '；']；
Wget2=[' I', goes, get (handles.edit21, ' string'), '；']；
Wget3=[' J', goes, get (handles.edit22, ' string'), '；']；
Wget4=[' K', goes, get (handles.edit23, ' string'), '；']；
Wget5=[' Mgl', goes, get (handles.edit24, ' string'), '；']；
evalin('base',wget1)；
evalin('base',wget2)；
evalin('base',wget3)；
evalin('base',wget4)；
evalin('base',wget5)；
3,3 working principle of remote supervision system
Remote monitoring system includes that remote parameter gives module, parameter state display module, can be given by telecommunication
Controller and parameter setting system parameters, and parameter state and simulation scenarios progress reality to flexible mechanical arm mathematical model
When monitor.
Remote parameter setup module design method is similar with the parameter setting module of controller and parameter setting system, complete
At TCP/IP telecommunication is started after parameter setting, the parameters of setting are sent to controller and parameter setting module, it is complete
It works at parameter assignment；Parameter state display module is responsible for showing each parameter state by numeric form, and telecommunication is connect
The real value of the quantity of states such as the control law, the observer error that receive is shown on monitoring system interface, is realized to emulation data
Real-time monitoring.
Parameter state display module source code is as follows:
set_param('lsim','StopTime',num2str(c))；
T=evalin (' base', ' t')；
Simout=evalin (' base', ' simout')；
Simout1=evalin (' base', ' simout1')；
Simout2=evalin (' base', ' simout2')；
If (c==0.1)
set(handles.axes6,'XTickLabel',{stra,”,”,”,”,”,”,”,”,”,”},'fontsize',
8)；
Temp=stra；
end
while(1)
axis(handles.axes6,[b1 b2 -3 3])；
If (t (tl, 1)==b2-18)
set(handles.axes6,'XTickLabel',{temp,stra,”,”,”,”,”,”,”,”,”},'
fontsize',8)；
Temp1=stra；
break；
end
……………………………………………………
break；
end
break；
end
If (t (tl, 1)==b2)
B1=b1+20；
B2=b2+20；
set(handles.axes6,'XTickLabel',{temp9,”,”,”,”,”,”,”,”,”,”},'
fontsize',8)；
Temp=stra；
end
axes(handles.axes9)；
plot(t(tl,1),simout2(tl,1),'c.-','Linewidth',1.5)
hold on；
plot(t(tl,1),simout2(tl,2),'m.-','Linewidth',1.5)
grid on
In TCP/IP communication agreement, the Main Patterns to interact between two processes of communication are client/servers
Mode, i.e. client user files a request to server, after server receives request, provides corresponding service.Emulation is flat
The design of platform uses this mode, i.e. controller and parameter setting system is server, and long-range control is visitor with monitoring system
Family end.The specific programming step of this service processes is as follows:
Step 1, TCP/IP communication channel is established, the variable for indicating TCP/IP is respectively set in server end and client,
Variable assignments is realized using the tcpip function in MATLAB, while prescribed port number and IP address, such as tc=tcpip ('
Localhost', 4012, ' NetworkRole', ' Server'), data variable tc is defined, calls the IP address of the machine as logical
Believe address, the port numbers of calling are " 4012 ", and it is server that " Server ", which defines the variable end,.
Step 2, into listening mode, start communication function, i.e., the variable defined before starting, example using fopen function
Such as fopen (tc).After starting communication function, fopen function can enter circulation listening state, and whether cycle detection other side equally opens
It is dynamic to monitor, when port numbers and IP address are under same gateway, that is, fopen circulation listening state is jumped out, connection is completed.
Step 3, carry out data transmit-receive, using fwrite function, by etc. the variable that defines of data write-in tcpip to be sent
In, before the other end of communication all receives the data of transmission, fwrite function clock is in cycle detection state；It is communicating
The other end executes fread function and completes data receiver.If there is no data flow in communication channel, also can be performed fread function into
Enter to recycle listening state, until the other end sends data, after generating data flow in communication channel, fread function can be jumped out
It recycles and completes data receiver.
Step 4, it is returned after communication, waits client's request next time.
Step 5, mode is ceased listening for using fclose function, is emptied the cache, is released by delete function and clear function
Put all resources of TCP/IP communication occupancy.
The specific works method of the present embodiment is, comprising the following steps:
Step 1, user enters remote supervision system after starting emulation platform, selects operating mode according to actual needs,
Determine whether that " link " button for clicking remote supervision system starts telework mode.And then control algolithm is selected, click pair
" GUI calling " button answered；
Step 2, it is set required for inputting simulation model in multiple input windows of remote supervision system parameter setting module
The model parameter and control parameter set, including time Convergence coefficient, rotor moment of inertia, link rotatable inertia, joint stiffness system
The length of number, connecting rod quality, acceleration of gravity and connecting rod center to joint.It inputs in the present embodiment and selects in parameter setting module 5
The default value of system design is selected, xite indicates time Convergence coefficient, for no unit constant；I and J respectively indicates link rotatable inertia
And rotor moment of inertia, unit are kgm2；K represents joint stiffness coefficient (unit is N/m)；M, g, l respectively indicate connecting rod matter
Measure (units/kg), acceleration of gravity (unit N/kg) and connecting rod center to joint length (unit m), parameter given value in this example
It is followed successively by 20,1,1,40,1,10,0.5；Simulink is selected in controller and parameter setting system desired trajectory setup module
The Sine Wave signal in the library Source, phase position zero bring it about sinusoidal signal, successively repair in the configuration M file of controller
Change the higher derivative expression formula of desired signal, completes desired trajectory configuration.This example in controller and parameter setting module 2,
The expression formula that control law u has been derived based on sliding-mode control, by expression formula to control in the configuration M file of mathematical model 1
Output function assignment is restrained, the selection of control method is completed.
Step 3, emulation platform is run, remote supervision system receives and saves flexible mechanical arm mathematical model 1 and sends return
Emulation data, simulation curve, control law condition curve and mistake are observed on the parameter state display module of remote supervision system
The real-time tendency of difference curve.
Step 4, upper level main interface is returned to by click " returning to main interface ".
The present invention realizes following functions:
1, operating mode selection function.The present invention is two kinds of operating modes of user design.User can be by long-range
System remote access controller and parameter setting system are monitored, realizes remote emulation work；It can also be directly in local control
Device and parameter setting system carry out simulation work.
2, function is arranged in desired trajectory.The present invention provides the selection function that flexible mechanical arm moves desired trajectory for user
Can, user can be according to emulation needs, and it is suitable to select in the Simulink system module of controller and parameter setting system
Mathematical function generator can complete the setting of desired trajectory for analogue system.
3, parameter setting function.The setting of control parameter is one of core function of emulation platform.Remote supervision system is
User provides the function of remote parameter setting；Parameter includes that time Convergence coefficient, rotor moment of inertia, link rotatable are used
Amount, joint stiffness coefficient, gravity torque and each design parameter of observer input desired parameter value in corresponding window and click biography
Control parameter setting work can be completed in ginseng button.User being capable of the Break-Up System simulation work adjustment control in simulation process
Parameter, and simulation work can be continued, the curve before adjustment is shown in same display area with curve adjusted, it is real
Now compare with figure.
4, display function.It can be shown in real time with data or preceding form in the parameter display area domain of remote supervision system
Respectively it is observed quantity of state, such as the real value of control law, observer error.
5, other function.The quarter that this system present system time is arranged for image display area curvilinear abscissa axis
Degree.
In addition to the implementation, the present invention can also have other embodiments.It is all to use equivalent substitution or equivalent transformation shape
At technical solution, fall within the scope of protection required by the present invention.
Claims (8)
1. a kind of networking flexible mechanical arm controls emulation platform, it is characterised in that: including flexible mechanical arm mathematical model (1),
Controller and parameter setting module (2) and remote supervision system (3)；The flexible mechanical arm mathematical model (1) is read by memory
It writes (4) and controller and parameter setting module (2) realizes the transmission of data, controller and parameter setting module (2) and long-range prison
It is connected between examining system (3) by Ethernet, sends and receives work based on TCP/IP communication agreement (5) progress data.
The flexible mechanical arm mathematical model is the mathematical model for the controlled device built based on Simulink, including flexible mechanical
The mathematic(al) representation and data of arm send and receive module；
The controller and parameter setting module include parameter setting module, control program selection and realize module, user's root
According to actual needs setting control parameter and model parameter, and corresponding control method is selected, the control method includes but unlimited
In PID control, ANN Control, sliding formwork control, fuzzy control, robust control, self adaptive control and PREDICTIVE CONTROL etc.；
The remote monitoring system gives the parameters of controller and parameter setting module by telecommunication, and to flexible machine
The parameter state and simulation scenarios of tool arm mathematical model carry out real-time monitoring.
2. networking flexible mechanical arm according to claim 1 controls emulation platform, it is characterised in that: the flexible mechanical
Arm mathematical model is the mathematical model expression formula of controlled flexible mechanical arm, and the flexible mechanical of two-freedom is established using mechanical relationship
Arm mathematical model, the expression formula are as follows:
Wherein, q and qmRespectively indicate the Angle Position of connecting rod and rotor；I and J respectively indicates the rotary inertia of connecting rod and rotor；K generation
Table joint stiffness coefficient；M, g, l respectively indicate connecting rod quality, acceleration of gravity and connecting rod center to joint length；U indicates motor
Torque input.
3. networking flexible mechanical arm according to claim 2 controls emulation platform, it is characterised in that: the flexible mechanical
Mathematical model includes the model mathematic(al) representation of flexible mechanical arm and data send and receive module, and the mathematic(al) representation is with S
Function fashion is stored as monofile and is responsible for artificial tasks, and the data send and receive module and are responsible for and emulation platform main interface chain
Connect the transmission task for realizing Simulation result data.
4. networking flexible mechanical arm according to claim 1 controls emulation platform, it is characterised in that: the controller and
Parameter setting system includes control program selection and realization module, desired trajectory setup module and parameter setting module；The control
Scheme Choice processed and realization module are responsible for determining that the control algolithm used, desired trajectory setup module are responsible for given controlled device
Simulating sports track, parameter setting module are responsible for the every control parameter and model parameter of given analogue system.
5. networking flexible mechanical arm according to claim 4 controls emulation platform, it is characterised in that: the controller and
The program that parameter setting system is write based on GUI selects comprising control program and realizes module and parameter setting module；It is described
Control program selection and realize that module setting needs control algolithm to be used, the control algolithm include but is not limited to PID control,
ANN Control, sliding formwork control, fuzzy control, robust control, self adaptive control and PREDICTIVE CONTROL；The parameter setting module
The set interface of every control parameter and model parameter is provided.
6. networking flexible mechanical arm according to claim 1 controls emulation platform, it is characterised in that: the long-range monitoring
System includes that remote parameter gives module and parameter state display module, and the parameters remote, which gives module, to be responsible for establishing and control
The long-range given real-time reception with emulation data of control parameter and model parameter is realized in the communication of device and parameter setting module；
Parameter state display module is responsible for realizing the real-time display of analogue system parameters and simulation curve real-time status.
7. networking flexible mechanical arm according to claim 6 controls emulation platform, it is characterised in that: the long-range monitoring
System remotely gives the parameters of controller and parameter setting system based on Ethernet, and each input is shown by numerical approach
The value of parameter, and shown by way of DYNAMIC DRAWING and be respectively observed quantity of state, including control law, simulation control subsystem export shape
The curve of state value and observer output valve realizes the real-time monitoring to each parameter of analogue system and simulation result.
8. a kind of working method of networking flexible mechanical arm control emulation platform, it is characterised in that: include the following steps,
Step 1, start remote supervision system, run main interface；Click the remote control button of controller and parameter setting system
And the linking button of remote supervision system starts telework mode, or directly starts this using controller and parameter setting system
Ground operating mode；Wherein step 2 to step 6 is telework mode；
Step 2, selection needs control algolithm to be used, clicks corresponding GUI call buttons on remote supervision system, calls opposite
The sub-interface answered, and close current interface；
Step 3, in the subsystem interfaces of remote supervision system, the items of analogue system are inputted by remote parameter setup module
Model parameter and control parameter；
Step 4, starting emulation, the parameter state display module of remote supervision system are responsible for the emulation for calling telecommunication to receive
Data realize the drafting of each quantity of state and simulation curve；
Step 5, user responds according to feedback information, realizes required subsequent operation, returns to upper level main interface；
Step 6, the above process is repeated until terminating.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111190356A (en) * | 2019-12-12 | 2020-05-22 | 上海卫星工程研究所 | Simulation decision support system, method and realization method of simulation decision support system |
| CN112764357A (en) * | 2021-01-22 | 2021-05-07 | 郑州捷安高科股份有限公司 | Engineering machinery simulation method, device, equipment and storage medium |
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