REAL-TIME PLATFORM FOR THE CONTROL PROTOTYPING AND SIMULATION OF POWER ELECTRONICS AND MOTOR DRIVES
Simon Abourida, Jean Belanger
Opal-RT Technologies Inc.
1751 Richardson #2525
Montreal, J4P 1G6, Quebec, Canada
Simon.abourida@https://www.doczj.com/doc/2816069499.html,
ABSTRACT
The paper presents state-of-the-art technologies and platform for real-time simulation and control of motor drives, power converters and power systems.
Through its support for Model-Based Design method with Simulink?, its powerful hardware (multi-core processors and FPGAs), and its specialized model libraries and solvers, this real-time simulator (RT-LAB?) enables the engineer and researcher to efficiently implement advanced control strategies on embedded hardware, or to conduct extensive testing of complex power electronics and real-time transient simulation of large power systems.
1.INTRODUCTION
Over the years, it has been increasingly acknowledged how important and essential the tools of real-time simulation and testing in all industries are. These tools are no longer a luxury in modern system design, especially in electric motor drives and power electronics, whose applications are found in an ever increasing number in all sectors. As for power systems, it was the sector that pioneered the use of real-time simulators tens of years ago, starting with analog simulator, before the advent of computers and the development of hybrid then fully digital real-time simulators.
On other hand, commercial simulation packages such as MATLAB/Simulink? are now widely used in the industry, education, and research institutions alike. They have become the modeling tools of choice because the many advantages they offer: increase in engineering productivity and efficiency, and accelerated design cycle by relying on the Model Based Design (MBD) methodology, making it possible to go from concept to simulation without ever having to write code, and producing a working prototype very early in the design process.
Because of its advantages, the MBD approach has renewed the importance and interest in real-time simulation and its many applications and spread the usage of RT simulation to new fields, because it had greatly facilitated the development of real-time applications and accelerated their design.
Before and after the establishment of this MBD process, several real-simulation time tools has been developed, in different sectors: electromechanical systems, aerospace, power systems, electric drives, railway systems, etc
Many such tools were proprietary systems or mere research projects that failed to get into maturity. The few others that made it to maturity and had many applications and users have restrained their applications solely to the real-time simulation of the complex electric power systems (RTDS, Hypersim [1]) resulting in high cost for simpler systems like electric drives and industrial power converters; others failed, despite their success in small applications or complex but slow dynamic systems, to address the needs and requirements of real-time simulation of the fast electromagnetic transients of power systems, and the fast dynamics of today’s power converters and electric motor drives, and therefore, their applications stayed confined to systems with relatively slow dynamics (mechanical, hydraulic, aerodynamic systems, etc).
A powerful platform for real-time simulation and control of electromechanical and power systems alike that is based on the MBD approach has been developed (RT-LAB) in the mid nineties, pioneering the use of commercial PC processor as the base platform and using Simulink as the visual design environment. In addition to its scalable, distributed processing hardware, RT-LA
B integrates on the software level many solvers and model libraries that were designed to solve the problems and challenges of the real-time control and simulation of fast dynamics like those found in electric motor drives, power converters, power grid, renewable energy systems, and other applications.
The present paper describes this real-time platform and its architecture, and presents some of its typical applications. It is organized as follows: first an introduction to the methodology of model-based design and its applications is given in section 2; then the RT-LAB platform, its hardware architecture and its software are presented thoroughly in section 3, and some application-driven real-time simulators are presented in section 4; typical applications are shown and discussed in section 5, before concluding.
2.MODEL-BASED DESIGN AND REAL-TIME
SIMULATION
In traditional design and test methods of control systems, the actual product or even its prototype become available very late in the design process; and it is only then, as system integration is done toward the end of the design that the designers were able to
find out if the system work well and behave as it was intended to, or to uncover eventual errors in the design, implementation or integration of the system and its components.
Model-Based Design process (illustrated on Figure 1) addresses these shortcomings of the traditional development method; it consists of building a mathematical model of the system in a graphical block-diagram environment (like Simulink ?). The entire system model can then be simulated to accurately predict, validate and optimize its performance, and to iteratively refine it until it meets the requirements; this is the model design stage.
Figure 1: The process of Model Based Design
This system model becomes then a specification from which real-time software code is automatically generated for prototyping and implementation, thus avoiding hand coding and reducing the potential for errors (automatic software generation).
The software automatically generated from the system-level, graphical block diagram is then uploaded to a real-time platform, and is ready for testing. In fact, verification and validation are conducted throughout the development of the product by integrating tests into the models at any stage. This continuous verification and simulation helps identify errors early, when they are easier and less expensive to fix.
This model based design process is more and more used in the development of dynamic systems including motor drives and power electronics systems. In educational institutions, this process is becoming the preferred approach for both research and teaching, because it enables the researchers, engineers and students to focus on their design, algorithms, system topologies and different innovative ideas, rather than dedicating a significant part of their effort and time to the intricacies of writing the real-time code and implementing the software on the real-time platform (microcontroller, DSP, FPGA, etc).
3.RT-LAB REAL-TIME PLATFORM
RT-LAB is a powerful, modular, distributed, real-time platform that lets the engineer and researcher to quickly implement block diagram Simulink models on PC platform, supporting thus the model-based design method by the use of rapid prototyping and hardware-in-the-loop simulation of complex dynamic systems. The major elements integrated in this real-time platform are: distributed processing architecture; powerful processors, high precision and very fast input/output interface, hard real-time scheduler, and modeling libraries and solvers specifically designed for the highly non-linear motor drives, power electronics, and power systems.
3.1.Architecture of RT-LAB platform
The general architecture of RT-LAB is shown on Figure 2. In this host-target architecture, the host is used to develop the model at the design stage, and during runtime, as the user interface, communicating with the target by Ethernet. The target where the real-time computation done, is a PC and has therefore the standard architecture of a PC; one or two processors are dedicated to the simulation of the Simulink model; a PCI (or PCI-Express) bus connects the processors to the rest of the system, and to inputs/outputs (I/O) through an FPGA board; the I/O’s are modular and their number can be configured according to the
application needs.
Figure 2: The architecture of RT-LAB based simulator
In addition, several targets can be interconnected with FireWire or PCI Express real-time communication links and switches, making the complete system a super-computer of high computational capacity, ideal for the real-time simulation of complex systems (power grids, wind farms, distributed generation systems in large ships, and others)
3.1.1.Processor
RT-LAB uses Intel? or AMD? processors as real-time targets; there can be a single or two processors in one target; each processor can be single, dual or quad core, so that a single target box can hold as much as 8 processing cores, communicating by shared memory; and each core simulates a Simulink subsystem; this makes such an RT-LAB target box a very powerful distributed processing simulator that can handle very complex simulation applications.
In addition, for applications requiring very small simulation step
in the microsecond range, RT-LAB uses Xilinx FPGA as real-
time target; and while this target requires some extra handling in the model by the designer, the design itself is done equally in the form of block diagram in the same Simulink graphical environment by using the Xilinx Blockset, and the VHDL code is then automatically generated from the block diagram, compiled and uploaded to the FPGA; the engineer can then design extremely fast control algorithms or model extremely fast sampling plant models and target them to FPGA without hand coding and without the need of programmable logic chip expertise.
3.1.2.Inputs and Outputs
In order to connect the real-time system with real world hardware devices, (controller or physical plant), input/output (I/O) interface is configured through custom blocks, supplied with RT-LAB as a Simulink toolbox (analog, digital, PWM, encoder, serial communication, etc). The engineer drags and drops the I/O blocks to the graphic model, without worrying about low-level driver programming. RT-LAB manages the automatic code generation so to direct the model’s data flow onto the physical I/O cards.
RT-LAB platform supports several commercial PCI I/boards; in addition, in order to meet the stringent I/O speed and accuracy requirements of power electronics and drives, it uses digital I/O boards controlled by a 100 MHz FPGA chip yielding a PWM and encoder resolution of ±10 ns, and 16-bits simultaneous fast analog-digital converters.
3.1.3.Software and Modeling Libraries
RT-LAB runs either on QNX or RT-Linux real-time operating system; at the heart of the software, there is a hard real-time scheduler that ensures a strict real-time execution of the system code.
RT-LAB software automatically handles the real-time communication between processing cores, and processors on different target boxes, as well as the communication with the host station, and it handles the interface between the model code (user actual simulated application) and the I/O devices.
On the top of the real-time software, modeling toolboxes and solvers for Simulink has been developed to handle the intricate simulation needs of fast transients found in switching power converters, electromagnetic transients in power grids, and to interface with commercial blocksets designed by third parties addressing special needs for the simulation of motor drives and other electrical related systems. The table given below lists the most important of these toolboxes.
Table 1: Model and Solver Libraries for RT-LAB
Module Description
RT-Events Simulink Blockset of control blocks with real-time
interpolation for power electronics & hybrid
systems (dynamic systems with events). RTeDRIVE Simulink Blockset of converter and motor models
to simulate motor drives in real-time; it includes
voltage-source power converters with real-time
interpolation techniques.
ARTEMIS Simulink solver toolbox to simulate line- or load-
commutated drives and AC circuits; it is used to
run SimPowerSystems models in real-time. RTeGRID Bundle of ARTEMIS and other models and
functionalities optimized for the simulation of
power systems
RTeGRIDpro Bundle of S/W tools to simulate large power grids
with power electronic systems; it includes
RTeGRID, RTeDRIVE and RT-Events
RT-LAB.XSG Development and run-time tools to design models
with Xilinx Blockset and run them on Xilinx
FPGA
XSGeDRIVE Simulink blockset designed with Xilinx blocks to
simulate power electronic drives on FPGA
RT-LAB.JMAG Interface of RT-LAB to JMAG-RT finite element
suite from the Japanese Research Institute
Solutions, to run high fidelity motor model on
CPU target
RT-LAB.JMAG-
FPGA
JMAG-RT implemented on FPGA target (1 us) 3.2.RT-LAB Based Real-Time Simulators
3.2.1.eDRIVEsim
eDRIVEsim is an advanced real-time, hardware-in-the-loop (HIL) simulator and control prototyping platform that integrates different libraries in the RT-LAB platform; it is intended for designing advanced control systems or for performing HIL testing of controllers used in high-speed electric motors, power electronics, and other electromechanical systems.
Blocks from specialized modeling libraries like RTeDrive?, RT-Events? and ARTEMIS (with SimPowerSystems?) blocksets can be included by the engineer in the Simulink model to run on the processor target.
In addition, eDRIVEsim lets the user incorporate subsystems designed with blocks from the Xilinx Blockset for Simulink into the model. This allows that part of the model to be executed on the eDRIVEsim FPGA allowing testing of fast controllers and protection systems, and achieving a low level of latency unprecedented in the simulation of high speed motors and high switching frequency converters.
This is illustrated in Figure 3. In this test, a 3-phase AC motor drive is emulated on the FPGA (with Xilinx blockset for Simulink), and the PWM gate signals of the simulated inverter comes from an external controller. The graph shows the total delay (latency) from the PWM input sent to the FPGA-based simulator to the currents that come out on the digital-to-analog outputs. The test shows a total latency in the order of 1.5 μs; this demonstrates the very high simulation speed of the motor drive emulated on the FPGA.
Figure 3: Very small latency & time step with the FPGA
real-time target of RT-LAB simulator
3.2.2.eMEGAsim
To answer the real-time electromagnetic simulation needs of power systems, the real-time digital simulator eMEGAsim? was also developed on the RT-LAB platform.
In eMEGAsim, the user develops controller models with Simulink and electrical circuit models with SimPowerSystem [2]. SimPowerSystem is a Simulink toolbox which provides multiple integrated models, all based on electromechanical and electromagnetic equations, for the simulation of power grids and machine drives. ARTEMIS enables SimPowerSystems models to be implemented and run in real-time. With the combination of other Simulink mathematical and physical-domain toolboxes, it is possible to easily model any power system components interconnected with complex mechanical subsystems and associated controls.
An EMTP-RV? [3] interface is also available to facilitate circuit diagram capture and validation of large circuits. The resulting model can be simulated offline using variable-step or fixed step solvers in Simulink and with ARTEMIS third- and fifth-order fixed-step solver, optimized for real-time parallel simulation of models made with SimPowerSystems.
With the integration of the above tools, eMEGAsim becomes a powerful real-time digital simulator for the study of FACTS [4][5], in-land and electric ship power grid, wind farm interconnection with the power grid [6], etc.
4.RT-LAB APPLICATIONS
RT-LAB is used in various projects in industries and institutions, spread among different types of applications.
Depending on the part of the system that is simulated (controller or plant), the applications of real-time simulation and of RT-LAB real-time system can be grouped in three major categories. These are explained briefly in the following sections.
4.1.Full Real-Time Simulation
A control system, is usually made of a controller and a plant connected in closed loop by the means of sensors sending feedback signals from the plant to the controller and actuators to level the signals sent from the controller to the plant (to power switches, breakers, etc).
Full real-time simulation consists of converting the Simulink model of the complete system (plant and controller) to real-time software that is uploaded to RT-LAB real-time platform (simulator) to conduct fully digital real-time simulation of the complete system.
As an example, the paper in [5][7] describes the use of RT-LAB for the real-time simulation of an induction motor drive with field-oriented speed controller, where [8] presents the use of RT-LAB PC-cluster simulator for real-time simulation of an All Electric Ship integrated power system analysis and optimization. The project described in [9] explains the hardware and software details of RT-LAB real-time digital simulator and its use for power engineering research. It describes its application for the study of 3-level induction motor drive with vector-control and compares the real-time simulation results to offline results from PSCAD/EMTDC.
4.2.Rapid Control Prototyping
Rapid Control Prototyping or RCP consists of quickly generating a functioning prototype of the controller, and to test and iterate this control algorithm on a real-time platform with real input/output devices. Rapid control prototyping differs from HIL in that the control strategy is simulated in real-time and the “plant,” or system under control, is real.
The applications of RT-LAB real-time system for rapid control prototyping are numerous; it is found in the development of a biped locomotor applicable to medical and welfare fields [10]; in autonomous control to maneuver a ship along desired paths at different velocities [11], where RT-Lab is used for rapid prototyping of the ship real-time feedback controller; in real-time control of a multilevel converter using the mathematical theory of resultants [12]; and in several research and teaching labs for the control of electric motors; a typical setup using the DriveLab? experimental kit is shown on Figure 4.
Figure 4: RT-LAB motor control prototyping used in
DriveLab?
4.3.Hardware-In-the-Loop Simulation
Hardware-In-the-Loop or HILS differs from pure real-time simulation by the use of the “real” controller in the loop (motor drive controller, electronic control unit for automotive, FADEC for aerospace, etc); this controller is connected to the rest of the system that is simulated by input/outputs devices. So unlike RCP, in HILS, it is the plant that is simulated and the controller is real.
Hardware-in-the-Loop simulation permits repetition and variation of tests on the actual or prototyped hardware without any risk for people or system. Tests can be performed under realistic and reproducible conditions. They can also be programmed and automatically executed.
Several applications in the field of motor drive HIL simulation has taken place in various fields (robotics, industrial, automotive and others).
The paper in [13] described the use of RT-LAB simulator of Permanent Magnet Synchronous Motor (PMSM) drive in industrial application (Figure 5), and reported the shortest real-time simulation time step (10 μs) for electric drives with this level of details in modeling the drive circuit, enabling to get very precise drive waveforms compared to actual measurements (Figure 6).
The application reported in [14] describes the setup and the results of closed-loop control experiments using a permanent magnet synchronous motor (PMSM) drive emulated on RT-LAB FPGA card connected in a closed loop with a controller implemented on another RT-LAB target computer. The FPGA-based PMSM motor drive is implemented on eDRIVEsim simulator. The simulator implements 2 types of motor drive models: Park (d-q) motor model and another more accurate motor model based on Finite Element Analysis that includes the non-
linearities of the motor.
Figure 5: Hardware-in-the-loop simulation setup of an AC
motor drive driven by a diode converter
Figure 6: Simulated PMSM drive currents in RT-LAB HIL
setup, compared to real currents measured in the lab
5.CONCLUSIONS
The paper presented the RT-LAB platform for real-time simulation of motor drives, power converters and power systems, and for real-time control of electric motors and mechatronic systems, and described state-of-the-art design methods and technologies used in this platform.
Different types of applications in control prototyping and hardware-in-the-loop simulation were portrayed with reference to typical projects.
What makes this real-time platform particularly advanced is its powerful hardware (parallel processing, multi-core processors, fast I/O devices, support of FPGA-based computation), and software (scalability, model-driven libraries targeting electric and power electronic systems, real-time interpolation of device switching, and other solver techniques), making it a very useful tool for research, testing and innovation.
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电力系统实时仿真技术分析 王占领1，郑三立2 1. 华北电力大学（保定）通信与电子工程学院，河北省保定市 071003； 2. 北京交通大学 电气学院，北京市 100044 摘要：阐述了电力系统实时仿真技术的应用情况和发展前景。对实时数字仿真系统采用的各种硬件平台进行了分析和比较。结合实际工程项目对实时仿真测试技术的应用情况进行了详细介绍，并阐述了数模混合实时仿真系统的原理、结构和应用情况。提出了先进的集成混合实时仿真系统的架构。该系统对扩大实时仿真系统的规模具有重要意义。 关键词：实时测试；数字仿真；物理模拟仿真；数模混合仿真；电力系统实时仿真 电力系统实时数字仿真器RTDS(Real Time DigitalSimulators)是实时全数字电磁暂态电力系统模拟装置,采用与EMTP仿真程序相同的算法,但由于其具有很强的硬件计算能力,进行系统研究时速度要快得多.另外,RTDS仿真系统的频率特性包括了一个很大的频率范围(从直流到4kHz),在此频率范围内,RTDS仿真系统是全面分析电力系统各种问题的理想工具.RTDS 仿真系统可以用于电力系统分析研究、测试保护系统、控制系统的测试及其教育培训. 0 引言 离线仿真程序和实时仿真系统结合运用，可全面经济地完成项目的仿真和测试工作［1］。如在HVDC和FACTS（柔性交流输电系统）工程实施中，在项目规划和设计阶段，利用离线仿真确定设备的最优容量和最佳安装地点，设计和开发特殊电网结构及运行要求下的适当控制和保护策略等。但完整实施项目还需在设备安装、投运之前利用实时仿真系统对所设计的控制与保护系统进行实时测试，以验证其性能是否满足设计要求。由于实时仿真的系统规模有限，在实时测试前需根据设计要求对相关电网进行简化等值处理。 实时仿真测试的电力系统控制和保护装置可分为二大类：一是传统的控制和保护装置，如继电保护装置、安全自动装置和发电机的励磁和调速装置，通常此类装置的响应速度在几十ms；二是现代电力电子装置的控制和保护系统，如HVDC和FACTS装置的控制和保护系统，其响应速度要比传统装置快很多。这2类控制和保护系统的闭环测试对实时仿真系统的要求是不同的。本文将阐述各种实时仿真测试技术，特别是实时数字仿真系统的结构、特点及应用。 1 物理模拟仿真系统
车辆动力学主要仿真软件 I960年，美国通用汽车公司研制了动力学软件DYNA主要解决多自由度 无约束的机械系统的动力学问题，进行车辆的“质量一弹簧一阻尼”模型分析。作为第一代计算机辅助设计系统的代表，对于解决具有约束的机械系统的动力学问题，工作量依然巨大，而且没有提供求解静力学和运动学问题的简便形式。 随着多体动力学的谨生和发展，机械系统运动学和动力学软件同时得到了迅速的发展。1973年，美国密西根大学的N.Orlandeo和，研制的ADAM 软件，能够简单分析二维和三维、开环或闭环机构的运动学、动力学问题，侧重于解决复杂系统的动力学问题，并应用GEAR刚性积分算法，采用稀疏矩阵技术提高计算效率° 1977年，美国Iowa大学在，研究了广义坐标分类、奇异值分解等算法并编制了DADS软件，能够顺利解决柔性体、反馈元件的空间机构运动学和动力学问题。随后，人们在机械系统动力学、运动学的分析软件中加入了一些功能模块，使其可以包含柔性体、控制器等特殊元件的机械系统。 德国航天局DLF早在20世纪70年代，Willi Kort tm教授领导的团队就开始从事MBS软件的开发，先后使用的MBS软件有Fadyna (1977)、MEDYNA1984),以及最终享誉业界的SIMPAC( 1990).随着计算机硬件和数值积分技术的迅速发展，以及欧洲航空航天事业需求的增长，DLR决定停止开发基于频域求解技术的MED YN软件，并致力于基于时域数值积分技术的发展。1985年由DLR开发的相对坐标系递归算法的SIMPACI软件问世，并很快应用到欧洲航空航天工业，掀起了多体动力学领域的一次算法革命。 同时，DLR首次在SIMPAC嗽件中将多刚体动力学和有限元分析技术结合起来，开创了多体系统动力学由多刚体向刚柔混合系统的发展。另外，由于SIMPACI算法技术的优势，成功地将控制系统和多体计算技术结合起来，发
现代中国制造业的发展主旋律是“以信息化带动工业化，以工业化促进信息化”。产品研制过程的信息化瞄准“数字”和“协同”两个目标。以日新月异的网络技术和计算机技术为基础，采用产品数字化虚拟研发技术，重组企业产品研发流程，大力推行并行工程，组建产品研发和制造的网络化虚拟环境。 现代制造业信息化主旋律将仿真带入了协同时代。企业间产品协同开发的需求、仿真工作融入研发流程的呼吁，保存企业智力资产的渴求，都使我们无法不加快协同仿真技术发展的步伐。 CAE 仿真技术通过开发吻合研发流程的协同仿真平台，建立流畅的仿真通道，帮助企业打通从设计、仿真、试验、制造的全数字化生产线。从而，企业可以非常方便地进行数字化工程的统筹规划，并在CAE 上的所有投入物有所值，物尽其用。同时，在开发过程中，使企业的智力资产得到完美的融台。 传统的产品研制，都是以试验的方式对设计方法和产品进行验证，以确保产品的性能。往往试验需要人为控制，对于环境、仪器、人员等条件要求非常高，需要资金、人员、设备等大量投入，有些大型试验风险很难以预测，产品的研制周期长，研制成本高。CAE仿真技术的产生之后，可以通过CAE技术完成部分物理试验无法完成的产品性能分析工作。但是仿真只是作为产品检验的手段，没有真正成为产品设计的一个必要阶段，只能在产品设计的后期，甚至产品试验过程或使用阶段发现问题之后才进行分析。仿真不能对产品设计起到指导性作用，没有最大限度发挥自身价值。 目前，随着仿真技术的发展，仿真已经融入产品的设计过程，成为产品设计的一部分。通过仿真不仅能在产品设计后期进行设计性能校核，同时在产品试验前期通过虚拟仿真模拟实验结果，指导产品物理试验，并在产品试验后期验证物
东华理工大学信息工程学院 课程论文 课程：计算机仿真技术基础 题目：仿真技术的应用与发展 学生姓名： 学号： 班级：10204102 专业：计算机科学与技术 指导教师：谢小林 二零一三年六月四日
摘要 作为信息技术核心的计算机技术自其诞生之日起经历了60多年的发展，已广泛应用于国民经济和社会生活中。并与仿真技术相结合，形成了计算机仿真技术这一新的研究方法。计算机仿真作为分析和研究系统运行行为、揭示系统动态过程和运动规律的一种重要手段和方法, 随着系统科学研究的深入、控制理论、计算技术、计算机科学与技术的发展而形成的一门新兴学科。近年来, 随着信息处理技术的突飞猛进, 使仿真技术得到迅速发展。 本文系统全面地介绍了计算机仿真技术，阐述了计算机仿真技术的概念、原理、优点，简要介绍了计算机仿真技术的发展历程，文章最后重点探讨了现代仿真技术的研究热点，即计算机仿真技术在社会各个领域中的应用：面向对象仿真、定性仿真、智能仿真、分布交互仿真、可视化仿真、多媒体仿真、虚拟现实仿真等。 关键词：计算机仿真、发展、应用、模拟
目录 摘要 (2) 第一章前言 (4) 第二章计算机仿真技术概述 (4) 2.1计算机仿真技术简介 (4) 2.2计算机仿真技术原理 (5) 2.2.1模型的建立 (6) 2.2.2模型的转换 (6) 2.2.3模型的仿真实验 (6) 第三章计算机仿真技术发展 (6) 3.1发展趋势 (7) 3.2 现代仿真技术 (8) 3.3计算机仿真技术发展方向 (10) 3.3.1．网络化仿真 (10) 3.3.2．虚拟制造技术 (10) 第四章计算机仿真技术的应用 (11) 4.1.交通领域 (11) 4.2.制造领域 (11) 4.3.教育领域 (12) 结语 (13) 参考文献 (14)
各大仿真软件介绍（包括算法，原理） 随着无线和有线设计向更高频率的发展和电路复杂性的增加，对于高频电磁场的仿真，由于忽略了高阶传播模式而引起仿真的误差。另外，传统模式等效电路分析方法的限制，与频率相关电容、电感元件等效模型而引起的误差。例如，在分析微带线时，许多易于出错的无源模式是由于微带线或带状线的交叉、阶梯、弯曲、开路、缝隙等等，在这种情况下是多模传输。为此，通常采用全波电磁仿真技术去分析电路结构，通过电路仿真得到准确的非连续模式S参数。这些EDA仿真软件与电磁场的数值解法密切相关的，不同的仿真软件是根据不同的数值分析方法来进行仿真的。通常，数值解法分为显示和隐示算法，隐示算法（包括所有的频域方法）随着问题的增加，表现出强烈的非线性。显示算法（例如FDTD、FIT方法在处理问题时表现出合理的存储容量和时间。本文根据电磁仿真工具所采用的数值解法进行分类，对常用的微波EDA仿真软件进行论述。2．基于矩量法仿真的微波EDA仿真软件基于矩量法仿真的EDA 软件主要包括A D S（Advanced Design System）、Sonnet电磁仿真软件、IE3D和Microwave office。 2.1ADS仿真软件Agilent ADS(Advanced Design System)软件是在HP EESOF系列EDA软件基础上发展完善起来的大型综合设计软件，是美国安捷伦公司开发的大型综合设计软件，是为系统和电路工程师提供的可开发各种形式的射频设计，对于通信和航天／防御的应用，从最简单到最复杂，从离散射频／微波模块到集成MMIC。从电路元件的仿真，模式识别的提取，新的仿真技术提供了高性能的仿真特性。该软件可以在微机上运行，其前身是工作站运行的版本MDS（Microwave Design System）。该软件还提供了一种新的滤波器的设计引导，可以使用智能化的设计规范的用户界面来分析和综合射频／微波回路集总元滤波器，并可提供对平面电路进行场分析和优化功能。它允许工程师定义频率范围，材料特性，参数的数量和根据用户的需要自动产生关键的无源器件模式。该软件范围涵盖了小至元器件，大到系统级的设计和分析。尤其是其强大的仿真设计手段可在时域或频域内实现对数字或模拟、线性或非线性电路的综合仿真分析与优化，并可对设计结果进行成品率分析与优化，从而大大提高了复杂电路的设计效率，使之成为设计人员的有效工具[6-7]。2.2Sonnet仿真软件Sonnet是一种基于矩量法的电磁仿真软件，提供面
ADPSS-LAB 电力电子、电力系统实时仿真方案 中国电力科学研究院 2012年10月 目录 1 系统综述- 0 - 2 系统组成- 0 - 3 电力电子、电力系统实时仿真存在的问题- 1 - 4 解决方法- 2 - 5 ADPSS-LAB实时仿真系统的功能- 7 -
电力电子系统实时仿真方案 1 系统综述 实时仿真是研究电力电子、电力系统复杂的工作过程、优化系统与运行的重要手段。电力电子、电力系统实时仿真经历了从第一代模拟分析系统，到第二代模拟/数字混合仿真系统，再到第三代数字实时仿真系统的发展过程。ADPSS-LAB正是第三代数字实时仿真系统的代表产品。 ADPSS-LAB是一种基于并行计算技术、采用模块化设计的电力电子、电力系统实时仿真系统。它既可以在普通PC机上进行离线仿真，也可通过并行计算机与实际的电力电子器件联接而进行实时在线仿真。与前两代仿真系统相比，ADPSS-LAB具有以下优势：1）既可以对电力电子、电力系统机电和电磁暂态分别进行实时仿真，同时也可以对机电和电磁暂态混合系统进行实时仿真。 2）仿真精度高；ADPSS-LAB在实时仿真过程中采用32位双精度浮点数运算，其仿真的精度与公认的离线分析软件MATLAB的仿真精度相当。 3）良好的升级和扩充性；ADPSS-LAB由于直接采用商用的基于PC Cluster的连接方式，当仿真的系统规模增大时，只需增加CPU数目和增大内存容量即可，从系统的升级和扩展灵活性等方面有很好的发展前景。 2 系统组成 软件部分：
实时操作系统：QNX 建模软件：MATLAB/simulink，SimPowerSystem 电力电子、电力系统实时仿真包 电力电子模型库 硬件部分： 并行处理系统(12-core INTEL CPU) I/O接口模块 信号调理模块 3 电力电子、电力系统实时仿真存在的问题 1)建模的问题 仿真系统能够提供友好的图形用户界面，丰富的电力电子、电力系统元件库且模型精度满足仿真要求，同时还要允许用户方便的添加自己的模型。 2)仿真的实时性问题 电力电子、电力系统往往在一个小范围内包含了十几个到几十个器件，相应的模型求解过程中包含了大量的矩阵计算(如：矩阵相乘，矩阵求逆等运算)，如此大的计算量无法在给定的一个几十个微秒的仿真步长内由一个CPU结算出结果。因此，为了实现实时仿真的目标，必须将大的电力电子系统解耦成几个小的子系统，每个子系统分别运行在不同的CPU上，达到降低每个CPU的计算量，实现整个系统实时仿真的目的。 3)实时PWM信号的捕捉和产生问题
1虚拟仿真施工技术 （1）主要技术内容 虚拟仿真施工技术是虚拟现实和仿真技术在工程施工领域应用的信息化技术。虚拟仿真技术在工程施工中的应用主要有以下几方面： A.施工工件动力学分析：如应力分析、强度分析； B.施工工件运动学仿真：如机构之间的连接与碰撞 C.施工场地优化布置：如外景仿真、建材堆放位置， D.施工机械的开行、安装过程； E.施工过程结构内力和变形变化过程跟踪分析； F.施工过程结构或构件及施工机械的运动学分析； G.施工过程动态演示和回放。 (2)技术指标 虚拟仿真施工主要包含以下技术体系: A.三维建模技术 运用三维建模和建筑信息模型（BIM）技术，建立用于进行虚拟施工和施工过程控制、成本控制的施工模型。该模型能将工艺参数与影响施工的属性联系起来，以反应施工模型与设计模型之间的交互作用，施工模型要具有可重用性，因此必须建立施工产品主模型描述框架，随着产品开发和施工过程的推进，模型描述日益详细。通过BIM技术，保持模型的一致性及模型信息的可继承性，实现虚拟施工过程各阶段和各方面的有效集成。 B.仿真技术 计算机仿真是应用计算机对复杂的现实系统经过抽象和简化形成系统模型，
然后在分析的基础上运行此模型，从而得到系统一系列的统计性能。基本步骤为；研究系统→收集数据→建立系统模型→确定仿真算法→建立仿真模型→运行仿真模型→输出结果，包括数值仿真、可视化仿真和虚拟现实VR仿真。 C.优化技术 优化技术将现实的物理模型经过仿真过程转化为数学模型以后，通过设定优化目标和运算方法，在制定的约束条件下，使目标函数达到最优，从而为决策者提供科学的、定量的依据。它使用的方法包括：线性规划、非线性规划、动态规划、运筹学、决策论和对策论等。 D.虚拟现实技术 虚拟建造是在虚拟环境下实现的，虚拟现实技术是虚拟建造系统的核心技术。虚拟现实技术是一门融合了人工智能、计算机图形学、人机接口技术、多媒体工业建筑技术、网络技术、电子技术、机械技术等高新技术的综合信息技术。目的是利用计算机硬件、软件以及各种传感器创造出一个融合视觉、听觉、触觉甚至嗅觉，让人身临其境的虚拟环境。操作者沉浸其中并与之交互作用，通过多种媒体对感官的刺激，获得对所需解决问题的清晰和直观的认识。 (3)适用范围 工业与民用建筑、市政工程、土木工程施工方案编制。
一、为什么要进行仿真 ?什么叫系统？ ◆系统：相互关联又相互作用着的对象的有机组合，该有机组合能够完成某项任务或实现某个预定的目标。 通常研究的系统有工程系统和非工程系统。 ◆工程系统（电气、机电、化工） ◆非工程系统（经济、交通、管理） 建立系统概念的目的在于深入认识并掌握系统的运动规律，以便分析和综合自然、社会和工程系统中的种种复杂问题。 ?对系统进行研究、分析与设计的方法； （1）直接在系统上进行实验 在要设计的系统上进行实验 （2）在模型上进行实验 对要设计的系统进行处理，根据其中内含的各种自然规律（包括欧姆定律、比例环节和惯性环节等）得到相关的控制规律，即系统的数学模型来进行研究。 对要设计的系统进行一定比例的缩放得到缩小或放大的物理模型。（古时的建筑）选择在模型上进行实验的原因 ◆系统尚未设计出来 ◆某些实验会对系统造成伤害 ◆难以保证实验条件的一致性；如果存在人的因素，则更难保证条件的一致性。 ◆费用高 ◆无法复原 二、仿真的定义 ?仿真的定义在不同的领域或范畴中有不同的描述，可以概括为：“仿真是指用模型（物理模型或数学模型）代替实际系统进行实验和研究。” ?仿真遵循的原则：原理抽象 相似原理。 相似原理：几何相似、性能相似、环境相似。 几何相似：根据相似原理把原来的实际系统放大可缩小。如把12000吨水压机可用1200吨或120吨水压机作其模型。万吨轮船也要用缩小的模型来研究。 性能相似：构成模型的元素和原系统的不同，但其性能相似。如：可用一个电气系统来模拟热传导系统。在这个电气系统中电容代表热容量，电阻代表热阻，电压代表温差，电流代表热流。 三、仿真的目的或作用 ?优化设计 ◆预测系统的性能和参数 ?经济性 ◆采用物理模型或实物实验，花费巨大。 ◆采用数学模型即计算机数学仿真可大幅度的降低成本并可重复使用。 ?安全性 ◆载人飞行器和核电站的危险性不允许。 ?预测性 ◆对于非工程系统，直接实验不可能，只能采用预测的方法。（天气预报） ?复原性
计算机模拟仿真技术在航空航天中的应用 在本文开篇，我先粗略介绍一下计算机仿真模拟技术。 计算机仿真是应用电子计算机对系统的结构、功能和行为以及参与系统控制的人的思维过程和行为进行动态性比较逼真的模仿。它是一种描述性技术，是一种定量分析方法。通过建立某一过程和某一系统的模式，来描述该过程或该系统，然后用一系列有目的、有条件的计算机仿真实验来刻画系统的特征，从而得出数量指标，为决策者提供有关这一过程或系统得定量分析结果，作为决策的理论依据。（选自百度百科计算机仿真摘要） 仿真是对现实系统的某一层次抽象属性的模仿。人们利用这样的模型进行试验，从中得到所需的信息，然后帮助人们对现实世界的某一层次的问题做出决策。仿真是一个相对概念，任何逼真的仿真都只能是对真实系统某些属性的逼近。仿真是有层次的，既要针对所欲处理的客观系统的问题，又要针对提出处理者的需求层次，否则很难评价一个仿真系统的优劣。（选自百度百科） 计算机仿真模拟的原理是依靠计算机的迭代运算， 所以这是一门依靠计算机技术所衍生的一门有着实际意 义的学科，它与我们的生活息息相关。计算机仿真模拟技 术在科学技术、军事、国民经济、汽车、电子行业、体育、 交通运输、金融、管理、航空航天方面都有广泛的应用。 它的研究范围小到原子，大到宇宙，可以说在现实生活中 应用极为广泛。 传统的仿真方法是一个迭代过程，即针对实际系 统某一层次的特性（过程），抽象出一个模型，然后假 设态势（输入），进行试验，由试验者判读输出结果和 验证模型，根据判断的情况来修改模型和有关的参数。 如此迭代地进行，直到认为这个模型已满足试验者对 客观系统的某一层次的仿真目的为止。 模型对系统某一层次特性的抽象描述包括：系统的组成；各组成部分之间的静态、动态、逻辑关系；在某些输入条件下系统的输出响应等。根据系统模型状态变量变化的特征，又可把系统模型分为：连续系统模型——状态变量是连续变化的；离散（事件）系统模型——状态变化在离散时间点（一般是不确定的）上发生变化；混合型——上述两种的混合。 随着专门用于仿真的计算机——仿真机的出现，计算机仿真技术日趋成熟，现在已经趋于完善。随计算机技术的飞速发展，在仿真机中也出现了一批很有特色的仿真工作站、小巨机式的仿真机、巨型机式的仿真机。80年代初推出的一些仿真机，SYSTEM10和SYSTEM100就是这类仿真机的代表。 为了建立一个有效的仿真系统，一般都要经历建立模型、仿真实验、数据处理、分析验证等步骤。为了构成一个实用的较大规模的仿真系统，除仿真机外，还需配有控制和显示设备。 本文将主要从航空航天方面对计算机仿真模拟进行探讨。 航空技术是从上世纪60年代前苏联发射第一颗人造卫星开始，人类开始了对太空的探索。
dSPACE实时仿真系统介绍 dSPACE简介 dSPACE实时仿真系统是由德国dSPACE公司开发的一套基于MATLAB/Simulink的控制系统开发及半实物仿真的软硬件工作平台，实现了和MATLAB/Simulink/RTW的完全无缝连接。dSPACE实时系统拥有实时性强，可靠性高，扩充性好等优点。dSPACE硬件系统中的处理器具有高速的计算能力，并配备了丰富的I/O支持，用户可以根据需要进行组合；软件环境的功能强大且使用方便，包括实现代码自动生成/下载和试验/调试的整套工具。dSPACE软硬件目前已经成为进行快速控制原型验证和半实物仿真的首选实时平台。 实现快速控制原型和硬件在回路仿真 RCP(Rapid Control Prototyping)—快速控制原型 要实现快速控制原型，必须有集成良好便于使用的建模、设计、离线仿真、实时开发及测试工具。dSPACE 实时系统允许反复修改模型设计北京汉阳，进行离线及实时仿真。这样，就可以将错误及不当之处消除于设计初期，使设计修改费用减至最小。 使用RCP 技术，可以在 费用和性能之间进行折衷；在最终产品硬件投产之前，仔细研究诸如离散化及采样频率等的影响、算法的性能等问题。通过将快速原型硬件系统与所要控制的实际设备相连，可以反复研究使用不同传感器及驱动机构时系统的性能特征。而且，还可以利用旁路（BYPASS ）技术将原型电控单元（ECU ：Electronic Control Unit ）或控制器集成于开发过程中，从而逐步完成从原型控制器到产品型控制器的顺利转换。RCP 的关键是代码的自动生成和下载，只需鼠标轻轻一点，就可以完成设计的修改。 HILS(Hardware-in-the-Loop Simulation)—半实物仿真 当新型控制系统设计结束，并已制成产品型控制器，需要在闭环下对其进行详细测试。但由于种种原因如：极限测试、失效测试，或在真实环境中测试费用较昂贵等nc.qoos.ipi，使测试难以进行，例如：在积雪覆盖的路面上进行汽车防抱死装置（ABS ）控制器的小摩擦测试就只能在冬季有雪的天气进行；有时为了缩短开发周期，甚至希望在控制器运行环境不存在的情况下（如：控制对象与控制器并行开发），对其进行测试。dSPACE 实时仿真系统的HIL 仿真将助您解决这一问题。 dSPACE开发流程
REAL-TIME PLATFORM FOR THE CONTROL PROTOTYPING AND SIMULATION OF POWER ELECTRONICS AND MOTOR DRIVES Simon Abourida, Jean Belanger Opal-RT Technologies Inc. 1751 Richardson #2525 Montreal, J4P 1G6, Quebec, Canada Simon.abourida@https://www.doczj.com/doc/2816069499.html, ABSTRACT The paper presents state-of-the-art technologies and platform for real-time simulation and control of motor drives, power converters and power systems. Through its support for Model-Based Design method with Simulink?, its powerful hardware (multi-core processors and FPGAs), and its specialized model libraries and solvers, this real-time simulator (RT-LAB?) enables the engineer and researcher to efficiently implement advanced control strategies on embedded hardware, or to conduct extensive testing of complex power electronics and real-time transient simulation of large power systems. 1.INTRODUCTION Over the years, it has been increasingly acknowledged how important and essential the tools of real-time simulation and testing in all industries are. These tools are no longer a luxury in modern system design, especially in electric motor drives and power electronics, whose applications are found in an ever increasing number in all sectors. As for power systems, it was the sector that pioneered the use of real-time simulators tens of years ago, starting with analog simulator, before the advent of computers and the development of hybrid then fully digital real-time simulators. On other hand, commercial simulation packages such as MATLAB/Simulink? are now widely used in the industry, education, and research institutions alike. They have become the modeling tools of choice because the many advantages they offer: increase in engineering productivity and efficiency, and accelerated design cycle by relying on the Model Based Design (MBD) methodology, making it possible to go from concept to simulation without ever having to write code, and producing a working prototype very early in the design process. Because of its advantages, the MBD approach has renewed the importance and interest in real-time simulation and its many applications and spread the usage of RT simulation to new fields, because it had greatly facilitated the development of real-time applications and accelerated their design. Before and after the establishment of this MBD process, several real-simulation time tools has been developed, in different sectors: electromechanical systems, aerospace, power systems, electric drives, railway systems, etc Many such tools were proprietary systems or mere research projects that failed to get into maturity. The few others that made it to maturity and had many applications and users have restrained their applications solely to the real-time simulation of the complex electric power systems (RTDS, Hypersim [1]) resulting in high cost for simpler systems like electric drives and industrial power converters; others failed, despite their success in small applications or complex but slow dynamic systems, to address the needs and requirements of real-time simulation of the fast electromagnetic transients of power systems, and the fast dynamics of today’s power converters and electric motor drives, and therefore, their applications stayed confined to systems with relatively slow dynamics (mechanical, hydraulic, aerodynamic systems, etc). A powerful platform for real-time simulation and control of electromechanical and power systems alike that is based on the MBD approach has been developed (RT-LAB) in the mid nineties, pioneering the use of commercial PC processor as the base platform and using Simulink as the visual design environment. In addition to its scalable, distributed processing hardware, RT-LA B integrates on the software level many solvers and model libraries that were designed to solve the problems and challenges of the real-time control and simulation of fast dynamics like those found in electric motor drives, power converters, power grid, renewable energy systems, and other applications. The present paper describes this real-time platform and its architecture, and presents some of its typical applications. It is organized as follows: first an introduction to the methodology of model-based design and its applications is given in section 2; then the RT-LAB platform, its hardware architecture and its software are presented thoroughly in section 3, and some application-driven real-time simulators are presented in section 4; typical applications are shown and discussed in section 5, before concluding. 2.MODEL-BASED DESIGN AND REAL-TIME SIMULATION In traditional design and test methods of control systems, the actual product or even its prototype become available very late in the design process; and it is only then, as system integration is done toward the end of the design that the designers were able to
建筑工程施工中虚拟仿真技术的应用发展 摘要：随着社会经济的迅速发展，虚拟仿真技术在建筑工程施工中的运用，能够及时发现建筑工程施工中存在的不足，在提高施工质量的同时，还能从根本上节省建筑工程的成本投资，为其今后的投入使用奠定基础。在此，本文针对建筑工程施工中虚拟仿真技术的应用发展，做以下论述。 关键词：建筑工程；施工；虚拟仿真技术；应用发展 Abstract: with the rapid development of social economy, the virtual simulation technology in architectural engineering in the construction of use, can prompt found construction, the deficiencies in the improvement of construction quality at the same time, still can fundamentally save the cost of construction project investment for the future of input use lay the foundation. In this, this article in view of the construction of the application of the virtual simulation technology development, do the following discusses. Keywords: building engineering; The construction; Virtual simulation technology; Application development 在21实际科学技术迅速发展的时代，计算机技术的普及，在推动社会发展的同时，还极大的改变了人们的日常生活。计算机智能系统在建筑工程施工中的运用，能够有效的规范工程施工技术，提高工程的管理水平，为建筑工程的施工质量提供有效的保障。在当前我国建筑工程施工领域中，常用的软件系统主要包括专家系统、智能管理系统、办公自动化系统等几个方面，这些计算机技术的应用，在原有的基础上弥补了传统施工方法及理论上的不足，避免了工程施工中不必要的麻烦。在此，本文从虚拟仿真技术、虚拟仿真系统在建筑施工中的应用以及虚拟仿真技术在工程施工中的研究和应用展望等三个方面出发，针对虚拟仿真技术在工程施工中存在的问题及完善途径，做以下简要分析： 一．虚拟仿真技术 在当前工程施工建设中，虚拟仿真技术是指通过计算机图形技术、计算机仿真技术、传感器技术、显示技术等多种学科的优势，为人机对话提供了更直接和更真实的三维界面，并能在多维信息空间上创建一个虚拟信息环境，使用户身临其境。在虚拟技术使用的过程中，除了能够对制定技术进行虚拟模仿外，还能通过真实逼真的环境，为技术的实提供相应的环境支持，在当前社会发展的过程中，虚拟仿真技术在多个领域中得到了飞速发展。而虚拟仿真技术在建筑工程施
使用方法： 1.本软件无需安装，解压缩后双击S7_200.exe即可使用； 2.仿真前先用STEP 7 - MicroWIN编写程序，编写完成后在菜单栏“文件”里点击“导出”，弹出一个“导出程序块”的对话框，选择存储路径，填写文件名，保存类型的扩展名为awl，之后点保存； 3.打开仿真软件，输入密码“6596”，双击PLC面板选择CPU型号，点击菜单栏的“程序”，点“装载程序”，在弹出的对话框中选择要装载的程序部分和STEP 7 - MicroWIN的版本号，一般情况下选“全部”就行了，之后“确定”，找到awl文件的路径“打开”导出的程序，在弹出的对话框点击“确定”，再点那个绿色的三角运行按钮让PLC进入运行状态，点击下面那一排输入的小开关给PLC 输入信号就可以进行仿真了。 使用教程： 本教程中介绍的是juan luis villanueva设计的英文版S7-200 PLC 仿真软件（V2.0），原版为西班牙语。关于本软件的详细介绍，可以参考 https://www.doczj.com/doc/2816069499.html,/canalPLC。 该仿真软件可以仿真大量的S7-200指令（支持常用的位触点指令、定时器指令、计数器指令、比较指令、逻辑运算指令和大部分的数学运算指令等，但部分指令如顺序控制指令、循环指令、高速计数器指令和通讯指令等尚无法支持，仿真软件支持的仿真指令可参考 https://www.doczj.com/doc/2816069499.html,/canalPLC/interest.htm）。仿真程序提供了数字信号输入开关、两个模拟电位器和LED输出显示，仿真程序同时还支持对TD-200文本显示器的仿真，在实验条件尚不具备的情况下，完全可以作为学习S7-200的一个辅助工具。 仿真软件界面介绍：
虚拟仿真技术在建筑设计中的应用研究 发表时间：2018-10-24T12:00:21.323Z 来源：《防护工程》2018年第17期作者：王雷李嫘[导读] 虚拟现实技术融入到了建筑设计行业，不但为投资商节省了投资成本，同时也节省了运行费用，顾客通过简单的交互式设备就能看见设计师的用意辽宁省人防建筑设计研究院有限责任公司辽宁沈阳 110032 摘要：虚拟现实技术融入到了建筑设计行业，不但为投资商节省了投资成本，同时也节省了运行费用，顾客通过简单的交互式设备就能看见设计师的用意。本文主要针对虚拟现实软件的基础定义，对其作用和意义进行了具体分析，最后做出了概括总结，希望能在某种角 度上帮助二者融合。 关键词：虚拟仿真；建筑设计；应用 引言随着时代的进步和科技的发展，虚拟现实软件和硬件也开始迈进建筑设计行业的大门，发挥其特长，给开发商、投资商、设计者等节省了投资和运行费用，保证了建筑物设计本身更加符合客户的具体要求，充分体现了以人为本的现代社会生活品质的追求。 1虚拟仿真技术概述虚拟仿真技术也被称为计算机仿真技术，主要是指机械设计人员通过建立特定的软件，建立出基本的建筑模型，然后对其进行模拟化的动态性的分析，得出建筑运转中各种动态性的参数，从而不断优化建筑的设计方案[3]。这样一来，就可以很好的节约大型建筑设备的生产建设成本，在模拟实验的过程中，我们只需要进行模拟操作即可，不需要制造出实物样机，从而能可以更好的节约生产建设资金。除此之外，也可以更加方便的对大型建筑的设计进行进一步的完善。在机器设计的过程中，工程人员可以通过计算机来做相应的工程计算，使用计算机来建立仿真模拟模型，可以很好的解决实验难题。由此可见，虚拟仿真技术可以大大提建筑设计的设计效率，也能更好的提高建筑的设计质量，能够更好的节约生产建设成本。 2虚拟仿真技术的优势特点 2.1多感知性 计算机虚拟现实技术能够让参与者从听觉、触觉、视觉、味觉、嗅觉以及动感等诸方面获得感知，也就是说，几乎人类所有能够感觉到的功能都可以通过VR虚拟仿真技术实现[5-6]。(2)存在感。也叫临场感，可以理解成为真实感，指用户作为虚拟情境中的主角，在体验的过程中能够真实地感受到虚拟环境，一个成功的虚拟现实环境能够让体验者难辨真假，就好像置身在真正的环境中一样。 2.2交互性 主要指在虚拟环境中，用户对物体的可控性和操作性的掌控程度，用户可以从虚拟环境获得真实的反馈结果，即实时反馈。例如，用户可直接抓取环境中的物体，此时，体验者会有手里握着东西的感觉，能够感觉到物体的质量，而且视觉中的物体也会随着手的移动而移动。(4)自主性。主要指在虚拟现实环境当中，环境中物体能够根据物理学规律运动的自主性程度，如在外力作用下，物体会向作用力方向移动，类似树叶随风摇摆，海水涨落，都是自主性的体现。 2.3降低投资成本和运行费用 这种虚拟现实的计算机技术被利用到建筑先期时，可以通过让客户感受到具体的建筑环境和设施，从而通过论证和演示，在建筑投资的初期，将建筑设计方案中不优的地方重新设计，将不协调的地方进行及时修正，从而有利于节省投资成本和运行费用，避免建筑返工。 2.3验证施工方案随着虚拟现实计算机技术的不断推广和宣传，它也被逐渐应用到建筑施工的环境下，使我国建筑行业迅速发展而强大，特别是利用虚拟技术来提升建筑施工水平方面，收获也很明显，而且在建筑施工的主要环节利用虚拟仿真技术，还可以促进施工技术的不断创新。虽然施工技术创新需要走出虚拟，进行真实操作，但也具有较大风险。从某种角度上讲，虚拟仿真技术应用到新施工技术中，可以将风险系数降低到最低，节省了施工成本，提高了施工效率。 2.4展示建筑设计立体效果 ①虚拟现实软件技术可以通过给客户佩戴感觉输入设备和感觉输出设备，让客户随时进入到建筑设计师所准备的立体建筑物中的任何位置上，可以最大限度地向客户展示和宣传设计方案的立体成果，满足客户的好奇心。②还可以对客户不满意的环镜或者位置设计进行第一时间跟踪，马上根据客户的描述和意见进行可行性修改和及时调整。③这种虚拟现实软件技术应用到建筑设计时，不单单可以使客户享受和看到建筑物里面的虚拟逼真环境，还可以对建筑物以外的环境进行虚拟设计，包括建筑物附近的地形，覆盖在建筑物外面地表面的草坪、和周围便利的交通桥梁等等虚拟环境。 3虚拟仿真技术在建筑设计中的实现方法 3.1虚拟现实硬件系统 其实，虚拟仿真技术并不需要多么复杂的程序，但是如果客户想要感受到更加逼真的效果，比如说，沉浸感、交互性和创造一定的想象空间的话，就应该聘请专业的操作人员，和配备专业的感觉输入和输出设备。这些设备和操作人员可以使客户享受到身临其境的感觉，也就是说体现在客户面前的场景和虚拟环境更加的真切，客户可以获得更加靠近事实的画面作为根据，对设计师所设计的方案进行感受和判断。因此，传感交互设备在其中起到了不可低估的作用。 3.2虚拟技术软件系统 这种三维模块的功能在于能够将建筑物、环境、室内的客观状态存在于三维结构、相对位置和比例建构中，且体现场景的色彩、材料、光线等条件。设计师应该根据以下三种步骤进行虚拟空间的设计。①几何建模。这只是在初步阶段，建立一个集合结构。②形象建模。形象建模大部分环境是通过建筑物的本身材质颜色和光线布局利用科学的建构想象架构的。③行为建模。行为建模可以是动态的，主要描述物体的行为和运动状态而设计的。这里的几何建模是通过线条的交叉、参差和合并等提出相对位置，但是几何建模体现不出逼真感。