multi-dimensional characteristics, .2002 CRC Press LLC
验证的理论模型，几个知名的识别方法可以使用，如相关分析和频率响应测量，
或傅立叶频谱分析。由于一些参数未知或随时间变化的，可应用于参数估计方法，均与连续或离散时间模型（尤其是如果模型中参数的线性）[42,45,46]。鉴定和近似非线性，多维的特点，2002 CRC出版社有限责任公司
TABLE 2.4 Generalized Through and Across Variables for Processes with Energy Flow
System Electrical Magnetic Mechanical ? translation ? rotation Hydraulic
Thermodynamic
Through Variables Electric current Magnetic Flow Force Torque
Volume flow Entropy flow
I ??F M V˙
Across Variables Electric voltage Magnetic force Velocity
Rotational speed Pressure Temperature
U ??w ω p T
表2.4广义能量流动过程中的变量 系统 通过变量
整个变量
电 电流 电压U 磁性 磁性流量 磁力? 机械
翻译 力F 速度W
旋转 力矩M 旋转速度ω
液压 体积流V 压力P 热力学 熵流 温度T
FIGURE 2.7 Different schemes for an automobile (as required for
drive-by-wire-longitudinal control): (a) scheme of the components (construction map), (b) energy flow diagram (simplified), (c) multi-port diagram with flows and potentials, (d) signal flow diagram for multi-ports.
artificial neural networks (multilayer perceptrons or radial-basis-functions) can be expanded for nonlinear dynamic processes [47]. Real-Time Simulation Increasingly, real-time simulation is applied to the design of mechatronic systems. This is especially true if the process, the hardware, and the software are developed simultaneously in order to minimize iterative development cycles and to meet short time-to-market schedules. With regard to the required speed of computation simulation methods, it can be subdivided into
1. simulation without (hard) time limitation, 2. real-time simulation, and
3. simulation faster than real-time. Some application examples are
given in Fig. 2.8. Herewith, real-time simulation means that the simulation of a component is performed such that the input and output signals show the same time-dependent .2002 CRC Press LLC
（一）计划的组成部分（施工图），（b）能源流图（简化），（三）多端口图：
图2.7汽车（纵线驱动控制的要求）的不同方案流量和潜力，（D）为多端口的信号流程图。人工神经网络（多层感知器或径向基函数）可以扩大非线性动力学过程[47]。越来越多的实时仿真，实时仿真应用机电一体化系统的设计。这是特别真实的过程中，硬件和软件，同步发展，以尽量减少迭代开发周期，以满足短的时间内将产品推向市场的时间表。关于所需的速度计算模拟方法，它可分
1。模拟（硬）的时间限制， 2。实时仿真，和
3。仿真速度更快，比实时。图给出了一些应用实例。
2.8。兹实时仿真手段，模拟的一个组成部分，是进行输入和输出信号显示，
同时依赖0.2002 CRC出版社有限责任公司
FIGURE 2.8 Classification of simulation methods with regard to
speed and application examples. FIGURE 2.9 Classification of real-time simulation. values as the real, dynamically operating component. This becomes a computational problem for processes which have fast dynamics compared to the required algorithms and calculation speed. Different kinds of real-time simulation methods are shown in Fig.
2.9. The reason for the real-time requirement is mostly that one
part of the investigated system is not simulated but real. Three cases can be distinguished:
图2.8速度和应用实例的仿真方法的分类。图2.9实时仿真的分类。值的实时，
动态的操作元件。这将成为一个相比，所需的算法和计算速度的快速动态的过程的计算问题。不同类型的实时仿真方法如图。
2.9。对于实时性要求的原因主要是一个调查系统的一部分，是不是模拟，而
是真实的。三起案件可分为：
1. The real process can be operated together with the simulated
control by using hardware other than the final hardware. This is also called ―control prototyping.‖
2. The simulated process can be operated with the real control
hardware, which is called ―hardwarein-the-loop simulation.‖
3. The simulated process is run with the simulated control in real
time. This may be required if the final hardware is not available or if a design step before the hardware-in-the-loop simulation is considered. Hardware-in-the-Loop Simulation
1。可以操作的真实过程的模拟控制一起使用硬件最终的硬件以外。这也被称
为―控制原型。‖
2。与实际控制硬件，这就是所谓―hardwarein的半实物仿真模拟过程中可以操作。‖ 3。模拟运行过程实时模拟控制。这可能是必需的，如果最终的硬件不可用或前一个设计步骤的硬件在环仿真被认为是。硬件在环仿真
The hardware-in-the-loop simulation (HIL) is characterized by
operating real components in connection with real-time simulated components. Usually, the control system hardware and software is the real system, as used for series production. The controlled process (consisting of actuators, physical processes, and sensors) can either comprise simulated components or real components, as seen in Fig. 2.10(a). In general, mixtures of the shown cases are realized. Frequently, some actuators are real and the process .2002 CRC Press LLC
硬件在环仿真（HIL）的特点是在实时模拟元件经营的实际组件。通常情况下，控制系统的硬件和软件是真正的
系统，用于系列生产。控制过程（驱动器，物理过程和传感器组成）可以包括模拟组件或实际组件，如图所示。
2.10（一）。在一般情况下，所显示的情况下混合物实现。通常情况下，一些
执行机构是真实的，过程0.2002 CRC出版社有限责任公司