Simulation of Embodied Cyber Physical System Based on Modelica/MWORKS: A Case Study of Intelligent Unmanned Surface Vessel

Abstract

This paper proposes a new paradigm of the EmbodiedCyber-Physical System (Embodied CPS, ECPS) to address theissues of the disconnection between physical laws andintelligent decision-making and the insufficientinteraction with dynamic environments in the modeling andsimulation of traditional CPS. ECPS achieves unifiedmodeling of physical laws and autonomous decision-makingthrough the "perception-decision-action" closed loop.Toverify ECPS, an embodied space framework based onModelica/MWorks is designed. Through three majortechnological innovations: constructing an embodied domainmodeling specification and embedding the Navier-Stokesequations into the training of the policy network;expanding the syntax and semantics of Modelica,encapsulating physical constraint reinforcement learningcomponents, and establishing a gradient interactionprotocol between the Physics-Informed Neural Network (PINN)and Modelica equations; building a digitaltwin-hardware-in-the-loop co-simulation platform based onthe FMI/SSP protocol to establish a collaborativeverification link between high-precision physicalsimulation and real-time decision-making.Taking theUnmanned Surface Vehicle (USV) as the carrier, thefull-process method from dynamic modeling, reinforcementlearning strategy training to virtual-real environmentco-simulation is demonstrated. Experiments verify theeffectiveness of this framework in achieving theclosed-loop coupling of physical simulation and intelligentdecision-making under complex sea conditions, providing amethodological foundation for interpretable modeling andverifiable simulation in the development of embodiedintelligence.