Software/hardware joint simulation system based on OPC-UA and self-adaptive collaboration method thereof

The invention discloses a software/hardware joint simulation system based on OPC-UA and a self-adaptive collaboration method thereof, and relates to the technical field of system simulation. The system comprises simulation units, simulation adapters, a communication module and a clock agent. The self-adaptive collaboration method of the system comprises the following steps: 1, creating a joint simulation environment, and establishing a simulation model of each simulation unit; 2, configuring the joint simulation environment, establishing an information model, connecting each simulation adapterto the corresponding simulation unit, and setting a QoS (Quality of Service) demand of each simulation unit; 3, determining a collaborative simulation step length according to the simulation step length of each simulation unit and a step length collaboration adaptive method; 4, operating joint simulation; and 5, ending the joint simulation, and evaluating the result. According to the joint simulation scheme, cooperative