多单片机并行分布式仿真系统的研究
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摘要
随着人们对仿真对象精度的要求越来越高,仿真技术也不断发展,由传统的串行仿真向并行仿真发展,由单机仿真向分布式仿真发展。多机并行分布式仿真系统已经成为新的研究热点。
轮机模拟器是一种对实船机舱设备进行功能模拟的装置。机舱设备中含有大量复杂的对象,例如主推进动力装置、锅炉与蒸汽系统和船舶电站等,使得模拟器仿真系统需要花费大量时间对仿真算法进行运行和调度,很难兼顾仿真的实时性和逼真度。所以利用多机系统对复杂对象进行仿真,将单一对象拆分成几个部分,各部分并行工作,最终通过数据交换实现整个对象的实时仿真。这种用硬件仿真代替软件仿真的方法可以降低复杂对象的仿真时间提高实时性,这也就是单板多单片机并行分布式仿真系统的研究意义。
本文对于单板上的多单片机并行分布式仿真系统进行了初步的研究,设计制作了一块并行分布式仿真支撑系统实验板,并选用船舶柴油发电机组作为仿真对象,验证单板多单片机并行分布式仿真系统的可行性。
本文首先介绍了系统总体设计方案。其次介绍了系统硬件的设计与实现,多个单片机之间的通信是通过访问外部存储器实现的。然后对船舶柴油发电机组建模,并在MATLAB中进行仿真。最后介绍了系统软件的设计与实现,包括I2C总线通信和RS—485串口通信的设计等,并在实验板上对系统进行仿真,将柴油发电机组分解成几部分,每个单片机负责一部分计算任务,最终通过数据交换,完成整个系统的仿真,并将结果返回上位机。最终的仿真结果验证了单板多单片机并行分布式仿真系统的可行性。
The simulation technologies are developing from traditional serial and single computer simulation to parallel and distributed computers simulation, because the simulation objects are needed more accurate than before. The research on parallel and distributed simulation systems based on multiple computers has become popular.
Marine simulator is a device which simulates the functions of devices in engine room. There are a large number of complex objects, such as main propulsion plant, boiler and steam system and ship power station and so on. The simulator must take a lot of time to run and dispatch the simulation algorithms, so it is difficult to take into both real-time and fidelity. The use of multiple computers can split a complex object into several parts, and every part works in parallel, finally complete the simulation through the exchange of data. The method of hardware simulation instead of software simulation can improve the real-time. This is the significance of research on parallel and distributed simulation system based on Multi-MCU.
This thesis is a preliminary research on parallel and distributed simulation system based on Multi-MCU. An experiment board is designed and produced. The diesel generator is selected as the simulation object to verify the feasibility of the system.
Firstly, the article introduces the general design of the system. Secondly the design and implementation of hardware is introduced. The communication among Multi-MCU is achieved by an external memory. Thirdly the diesel generator is modeled and simulated on the MATLAB. Finally, the design and implementation of software is introduced, including the design of I2C bus and RS-485 serial communication, the system is simulated on the experiment board. The diesel generator is broken down several parts, each MCU is responsible for one part, and completes the simulation through exchanging data, and returns the results to PC. The result verifies the feasibility of parallel and distributed simulation system based on Multi-MCU.
轮机模拟器是一种对实船机舱设备进行功能模拟的装置。机舱设备中含有大量复杂的对象,例如主推进动力装置、锅炉与蒸汽系统和船舶电站等,使得模拟器仿真系统需要花费大量时间对仿真算法进行运行和调度,很难兼顾仿真的实时性和逼真度。所以利用多机系统对复杂对象进行仿真,将单一对象拆分成几个部分,各部分并行工作,最终通过数据交换实现整个对象的实时仿真。这种用硬件仿真代替软件仿真的方法可以降低复杂对象的仿真时间提高实时性,这也就是单板多单片机并行分布式仿真系统的研究意义。
本文对于单板上的多单片机并行分布式仿真系统进行了初步的研究,设计制作了一块并行分布式仿真支撑系统实验板,并选用船舶柴油发电机组作为仿真对象,验证单板多单片机并行分布式仿真系统的可行性。
本文首先介绍了系统总体设计方案。其次介绍了系统硬件的设计与实现,多个单片机之间的通信是通过访问外部存储器实现的。然后对船舶柴油发电机组建模,并在MATLAB中进行仿真。最后介绍了系统软件的设计与实现,包括I2C总线通信和RS—485串口通信的设计等,并在实验板上对系统进行仿真,将柴油发电机组分解成几部分,每个单片机负责一部分计算任务,最终通过数据交换,完成整个系统的仿真,并将结果返回上位机。最终的仿真结果验证了单板多单片机并行分布式仿真系统的可行性。
The simulation technologies are developing from traditional serial and single computer simulation to parallel and distributed computers simulation, because the simulation objects are needed more accurate than before. The research on parallel and distributed simulation systems based on multiple computers has become popular.
Marine simulator is a device which simulates the functions of devices in engine room. There are a large number of complex objects, such as main propulsion plant, boiler and steam system and ship power station and so on. The simulator must take a lot of time to run and dispatch the simulation algorithms, so it is difficult to take into both real-time and fidelity. The use of multiple computers can split a complex object into several parts, and every part works in parallel, finally complete the simulation through the exchange of data. The method of hardware simulation instead of software simulation can improve the real-time. This is the significance of research on parallel and distributed simulation system based on Multi-MCU.
This thesis is a preliminary research on parallel and distributed simulation system based on Multi-MCU. An experiment board is designed and produced. The diesel generator is selected as the simulation object to verify the feasibility of the system.
Firstly, the article introduces the general design of the system. Secondly the design and implementation of hardware is introduced. The communication among Multi-MCU is achieved by an external memory. Thirdly the diesel generator is modeled and simulated on the MATLAB. Finally, the design and implementation of software is introduced, including the design of I2C bus and RS-485 serial communication, the system is simulated on the experiment board. The diesel generator is broken down several parts, each MCU is responsible for one part, and completes the simulation through exchanging data, and returns the results to PC. The result verifies the feasibility of parallel and distributed simulation system based on Multi-MCU.
引文
[1]王子才.仿真技术发展及应用.中国工程科学,2003,5(2)：40-44.
[2]杨明,张冰,王子才.建模与仿真技术发展趋势分析.系统仿真学报,2004,16(9)：1901-1904.
[3]胡四泉.并行和分布式仿真的建模和性能分析研究：(博士学位论文).北京：中国科学院研究生院,2003.
[4]胡汉才.单片机原理及其接口技术.北京：清华大学出版社,2003.
[5]宗光华,李大寨.多单片机系统应用技术.北京：国防工业出版社,2003.
[6]初忠,郭晨,周明顺等.第五代集装箱船全功能轮机模拟器.中国航海学会,2007.
[7]惠天舒,陈宗基,童军等.分布交互仿真技术综述.系统仿真学报,1998,10(1)：1-7.
[8]汪仁煌.多单片机系统总线.电子技术应用,1998,(3)：17-20.
[9]王幸之,钟爱琴,王雷等.AT89系列单片机原理与接口技术.北京：航空航天大学出版社,2004.
[10]孙育才,王荣兴,孙华芳等.ATMEL新型AT89S52系列单片机及其应用.北京：清华大学出版社,2005.
[11]Philips Semiconductors. The I2C-bus specification. Product specification,2000.
[12]Philips Semiconductors. PCF8584 I2Cbus controller. Product specification,1997.
[13]Philips Semiconductors. Interfacing the PCF8584 I2Cbus controller to 80C51 family microcontrollers. Application note,1994.
[14]杨金岩,郑应强,张振仁.8051单片机数据传输接口扩展技术与应用实例.北京：人民邮电出版社,2005.
[15]季宏锋,吴军辉,徐立鸿.I2C总线技术及应用实例.微型机与应用,2002,(12)：26-28.
[16]邹应金.51系列单片机原理与实验教程.西安：电子科技大学出版社,2007.
[17]马淑华,王凤文,张美金.单片机原理与接口技术.北京：北京邮电大学出版社,2005.
[18]何立民.I2C总线应用系统设计.北京：航空航天大学出版社,1994.
[19]周军,张瑞兰.PCF8584I2C总线扩展器的应用.电测与仪表,1998,35(394)：36-38.
[20]ATMEL Document. Two-Wire serial EEPROM AT24C512.2000.
[21]江正战.串行通信接口标准RS-423／422／485及其应用.电子技术应用,1994,(9)：26-29.
[22]王丽,雷秀,余建国.基于PC机与单片机AT89C52的串行通信协议设计.机电工程技术,2006,35(2)：19-21.
[23]周凯,郭黎利.采用MAX485实现单片机与PC机串行通信的一种方法.应用科技,2003,30(3)：27-30.
[24]诸骏伟.电力系统分析.北京：中国电力出版社.1995.
[25]Weifeng Shi, Jianmin Yang, Tianhao Tang. RBF NN Based Marine Diesel Engine Generator Modeling. American Control Conference,2005:2745-2749.
[26]Girda, G. F. Optimization of diesel engine-synchronous alternator group. Rail conference,2004:109-112.
[27]Sung Hoon Ko, Hyeong Soon Moon, Jong Cheol Kim. Development of electronic governor and simulator for the generating diesel engine. International Joint Conference, 2009:2900-2902.
[28]Weifeng Shi, Yiwen Nie. Marine synchronous generator ARCNN modeling. Mechatronics and Automation, International Conference,2005:2096-2100.
[29]IEEE Guide for Synchronous Generator Modeling Practices in Stability Analyses. IEEE Std,1991:1110-1991.
[30]Basl,J., Hrzan, E., Koucky, V. Modeling of the power part of excitation systems, synchronous generator, transformer and line in real time. Applied Electronics, 2009:43-46.
[31]施伟锋,陈子顺.船舶电力系统建模.中国航海,2004,(3)：64-69.
[32]袁春,张寿珍.柴油发电机组.北京：人民邮电出版社.2003.
[33]徐明,周晖.柴油发电机组的调速系统仿真.南昌高专学报,2007,(6)：146-148.
[34]任伟.船舶电站柴油发电机组自整定PID控制与虚拟仿真(硕士学位论文).上海：上海海事大学,2004.
[35]孙才勤.60000吨油轮电力系统建模及仿真：(硕士学位论文).大连：大连海事大学,2003.
[36]倪以信,陈寿孙,张宝霖.动态电力系统的理论和分析.北京：清华大学出版社.2002.
[37]Machowski, J., Bialek, J. W., Robak, S.. Excitation control system for use with synchronous generators. Generation. Transmission and Distribution,1998:537-546.
[38]刘雨,郭晨,孙建波等.船舶电力系统的动态过程仿真研究.系统仿真学报,2009,21(9)：2791-2795.
[39]Wang Shanming, Zhang Anming, Wang Xiangheng. Effective simulation of stability of 3/12-phase synchronous generators with simultaneous ac and dc stator connections using MATLAB. Electrical Machines and Systems,2008:4160-4163.
[40]W Janischewskyj, P Kundur. Simulation of the nonlinear dynamic response of interconnected synchronous machines. Transactions on Power Apparatus and Systems, 1972:2064-2069.
[41]E Mensah, H Kwatny, D Niebur. Models for optimal dynamic reconfiguration and simulation of ship power systems in simulink with State flow. Electric Ship Technologies Symposium,2007:175-179.
[42]李成斌,胡生清.I2C总线串行通信技术及其应用.自动化与仪表,1999,14(4)：11-14.
[43]Philips semiconductors. The I2C-bus and how to use it.1995.
[44]杜亚江.多单片机处理系统并行通讯的实现.电子技术应用,1990,(4)：25-27.
[45]赵军委,戚丽丽.I2C串行总线在单片机的实现.电子技术应用,1998,(6)：19-20.
[46]张念鲁.一个系统中多单片机之间的数据交换.自动化仪表,2005,26(12)：37-43.
[47]F. Mayer-Lindenberg, A heterogeneous parallel system employing a configurable interconnection network.1997.
[48]王韧.I2C总线技术探析及其应用.电气时代,2003,(8)：88-90.
[49]杨定安,雷小平.I2C总线在8051单片机中的应用.无线电工程,2000,30(3)：53-55.
[50]李敏,孟臣.大容量串行E2PROM AT24C512及其应用.电子元器件应用,2003,5(1)：29-31.
[51]毕博,王春平,孙书鹰.应用RS-485的PC与单片机通信研究.科学技术与工程,2008,8(1)：236-238.
[52]W Galjan, A Hanoun, Wolfgang H. K. Distributed Processor Network on a Single Chip.2006:256-259.
[53]T. Berry, L. A. Dale, A.R.Daniels. Real time modelling of multimachine power systems. IEE PROCEEDINGS-C, VOL.140, NO.4,1993:241-248.
[54]孙鑫,余安萍VC++深入详解.北京：电子工业出版社.2006
[2]杨明,张冰,王子才.建模与仿真技术发展趋势分析.系统仿真学报,2004,16(9)：1901-1904.
[3]胡四泉.并行和分布式仿真的建模和性能分析研究：(博士学位论文).北京：中国科学院研究生院,2003.
[4]胡汉才.单片机原理及其接口技术.北京：清华大学出版社,2003.
[5]宗光华,李大寨.多单片机系统应用技术.北京：国防工业出版社,2003.
[6]初忠,郭晨,周明顺等.第五代集装箱船全功能轮机模拟器.中国航海学会,2007.
[7]惠天舒,陈宗基,童军等.分布交互仿真技术综述.系统仿真学报,1998,10(1)：1-7.
[8]汪仁煌.多单片机系统总线.电子技术应用,1998,(3)：17-20.
[9]王幸之,钟爱琴,王雷等.AT89系列单片机原理与接口技术.北京：航空航天大学出版社,2004.
[10]孙育才,王荣兴,孙华芳等.ATMEL新型AT89S52系列单片机及其应用.北京：清华大学出版社,2005.
[11]Philips Semiconductors. The I2C-bus specification. Product specification,2000.
[12]Philips Semiconductors. PCF8584 I2Cbus controller. Product specification,1997.
[13]Philips Semiconductors. Interfacing the PCF8584 I2Cbus controller to 80C51 family microcontrollers. Application note,1994.
[14]杨金岩,郑应强,张振仁.8051单片机数据传输接口扩展技术与应用实例.北京：人民邮电出版社,2005.
[15]季宏锋,吴军辉,徐立鸿.I2C总线技术及应用实例.微型机与应用,2002,(12)：26-28.
[16]邹应金.51系列单片机原理与实验教程.西安：电子科技大学出版社,2007.
[17]马淑华,王凤文,张美金.单片机原理与接口技术.北京：北京邮电大学出版社,2005.
[18]何立民.I2C总线应用系统设计.北京：航空航天大学出版社,1994.
[19]周军,张瑞兰.PCF8584I2C总线扩展器的应用.电测与仪表,1998,35(394)：36-38.
[20]ATMEL Document. Two-Wire serial EEPROM AT24C512.2000.
[21]江正战.串行通信接口标准RS-423／422／485及其应用.电子技术应用,1994,(9)：26-29.
[22]王丽,雷秀,余建国.基于PC机与单片机AT89C52的串行通信协议设计.机电工程技术,2006,35(2)：19-21.
[23]周凯,郭黎利.采用MAX485实现单片机与PC机串行通信的一种方法.应用科技,2003,30(3)：27-30.
[24]诸骏伟.电力系统分析.北京：中国电力出版社.1995.
[25]Weifeng Shi, Jianmin Yang, Tianhao Tang. RBF NN Based Marine Diesel Engine Generator Modeling. American Control Conference,2005:2745-2749.
[26]Girda, G. F. Optimization of diesel engine-synchronous alternator group. Rail conference,2004:109-112.
[27]Sung Hoon Ko, Hyeong Soon Moon, Jong Cheol Kim. Development of electronic governor and simulator for the generating diesel engine. International Joint Conference, 2009:2900-2902.
[28]Weifeng Shi, Yiwen Nie. Marine synchronous generator ARCNN modeling. Mechatronics and Automation, International Conference,2005:2096-2100.
[29]IEEE Guide for Synchronous Generator Modeling Practices in Stability Analyses. IEEE Std,1991:1110-1991.
[30]Basl,J., Hrzan, E., Koucky, V. Modeling of the power part of excitation systems, synchronous generator, transformer and line in real time. Applied Electronics, 2009:43-46.
[31]施伟锋,陈子顺.船舶电力系统建模.中国航海,2004,(3)：64-69.
[32]袁春,张寿珍.柴油发电机组.北京：人民邮电出版社.2003.
[33]徐明,周晖.柴油发电机组的调速系统仿真.南昌高专学报,2007,(6)：146-148.
[34]任伟.船舶电站柴油发电机组自整定PID控制与虚拟仿真(硕士学位论文).上海：上海海事大学,2004.
[35]孙才勤.60000吨油轮电力系统建模及仿真：(硕士学位论文).大连：大连海事大学,2003.
[36]倪以信,陈寿孙,张宝霖.动态电力系统的理论和分析.北京：清华大学出版社.2002.
[37]Machowski, J., Bialek, J. W., Robak, S.. Excitation control system for use with synchronous generators. Generation. Transmission and Distribution,1998:537-546.
[38]刘雨,郭晨,孙建波等.船舶电力系统的动态过程仿真研究.系统仿真学报,2009,21(9)：2791-2795.
[39]Wang Shanming, Zhang Anming, Wang Xiangheng. Effective simulation of stability of 3/12-phase synchronous generators with simultaneous ac and dc stator connections using MATLAB. Electrical Machines and Systems,2008:4160-4163.
[40]W Janischewskyj, P Kundur. Simulation of the nonlinear dynamic response of interconnected synchronous machines. Transactions on Power Apparatus and Systems, 1972:2064-2069.
[41]E Mensah, H Kwatny, D Niebur. Models for optimal dynamic reconfiguration and simulation of ship power systems in simulink with State flow. Electric Ship Technologies Symposium,2007:175-179.
[42]李成斌,胡生清.I2C总线串行通信技术及其应用.自动化与仪表,1999,14(4)：11-14.
[43]Philips semiconductors. The I2C-bus and how to use it.1995.
[44]杜亚江.多单片机处理系统并行通讯的实现.电子技术应用,1990,(4)：25-27.
[45]赵军委,戚丽丽.I2C串行总线在单片机的实现.电子技术应用,1998,(6)：19-20.
[46]张念鲁.一个系统中多单片机之间的数据交换.自动化仪表,2005,26(12)：37-43.
[47]F. Mayer-Lindenberg, A heterogeneous parallel system employing a configurable interconnection network.1997.
[48]王韧.I2C总线技术探析及其应用.电气时代,2003,(8)：88-90.
[49]杨定安,雷小平.I2C总线在8051单片机中的应用.无线电工程,2000,30(3)：53-55.
[50]李敏,孟臣.大容量串行E2PROM AT24C512及其应用.电子元器件应用,2003,5(1)：29-31.
[51]毕博,王春平,孙书鹰.应用RS-485的PC与单片机通信研究.科学技术与工程,2008,8(1)：236-238.
[52]W Galjan, A Hanoun, Wolfgang H. K. Distributed Processor Network on a Single Chip.2006:256-259.
[53]T. Berry, L. A. Dale, A.R.Daniels. Real time modelling of multimachine power systems. IEE PROCEEDINGS-C, VOL.140, NO.4,1993:241-248.
[54]孙鑫,余安萍VC++深入详解.北京：电子工业出版社.2006