Biblio

CPS is generally complex to study, analyze, and design, as an important means to ensure the correctness of design and implementation of CPS system, simulation test is difficult to fully test, verify and evaluate the components or subsystems in the CPS system due to the inconsistent development progress of the com-ponents or subsystems in the CPS system. To address this prob-lem, we designed a hybrid P2P based collaborative simulation test framework composed of full physical nodes, hardware in the loop(HIL) nodes and full digital nodes to simulate the compo-nents or subsystems in the CPS system of different development progress, based on the framework, we then proposed collabora-tive simulation control strategy comprising sliding window based clock synchronization, dynamic adaptive time advancement and multi-priority task scheduling with preemptive time threshold. Experiments showed that the hybrid collaborative simulation testing method proposed in this paper can fully test CPS more effectively.