Approach for cyber-physical system simulation modeling

Simulation modeling is widely used in the field of CPS as an important back-up, but it is facing the problem how to realize the integrations of computation and physical processes. Compared with traditional embedded system, CPS has a much larger scale, and system heterogeneity is more obvious, as well as with the features of network openness, deep integrations of computation and physical processes and distinct spatial and temporal characteristics. For the problem of how to realize the integrations of computation and physical processes, a deep research was done. Combined with requirements of the Lunar Rover system, the system architecture was designed. Depending on use-cases, the static structure diagrams and dynamic behavior diagrams of the system were established in rhapsody, and then the simulink model which represents the continuous dynamic model of the physical entities was added to the uml model, implement integration of heterogeneous model based on real-time. At last, the simulation verification was carried out and the simulation result meets system requirements. This has an important meaning for CPS simulation modeling and CPS system development.