基于异构模型融合的CPS系统仿真建模方法研究

单一的离散系统仿真或连续系统仿真已无法满足复杂的CPS系统仿真需求。结合CPS一体化模型的3类 实体，对计算实体构建基于事件驱动的离散事件仿真模型(UML模型)，对物理实体构建基于动态连续时间坐标的连 续时间仿真模型(Simulink模型)，并以刻画计算实体和物理实体的交互接口和行为特征为目的，进行协同仿真，构建 交互实体模型。给出并分析了UM工丫Simulink协同建模的优点，研究并分析了3种不同的模型融合方法，结合无人机 模型，从模型级对CPS一体化模型的融合进行了分析设计。

Modeling of CPS Simulation Based on the Integration of Heterogeneous Models

Single discrete system simulation or continuous system simulation can't meet the complex needs of CPS si- mulation. We divided the integrated model of CPS into three types of entities, built discrete event simulation model (UML model) based on event driven for the computation entity, continuous-time simulation model (Simufink model) based on timcdriven for the physical entity. We applied co-simulation to construct interactive entity, characterizing the interfaces and behaviors of computation entity and physical entity. This paper introduced the advantages of the collabo- rative modeling of UMI./Simulink, investigated and analyzed three different methods for model merging. At the model levcl,we designed the fusion of the CPS integrated model on the basis of unmanned aerial vehicle model.