diff --git a/api/simulation.go b/api/simulation.go
index a226b62..668c9d8 100644
--- a/api/simulation.go
+++ b/api/simulation.go
@@ -20,6 +20,7 @@ import (
 	apiproto "joylink.club/bj-rtsts-server/grpcproto"
 	"joylink.club/bj-rtsts-server/middleware"
 	"joylink.club/bj-rtsts-server/service"
+	"joylink.club/bj-rtsts-server/sys_error"
 )
 
 func InitSimulationRouter(api *gin.RouterGroup, authMiddleware *jwt.GinJWTMiddleware) {
@@ -75,18 +76,24 @@ func initPublishMapInfo() {
 func createByProjectId(c *gin.Context) {
 	req := dto.SimulationCreateReqDto{}
 	if err := c.ShouldBind(&req); nil != err {
-		panic(dto.ErrorDto{Code: dto.ArgumentParseError, Message: err.Error()})
+		// panic(dto.ErrorDto{Code: dto.ArgumentParseError, Message: err.Error()})
+		panic(sys_error.New("测试启动失败,请求参数异常", err))
 	}
 	mapInfos := service.QueryProjectPublishedGi(req.ProjectId)
 	if len(mapInfos) == 0 {
-		panic(dto.ErrorDto{Code: dto.DataNotExist, Message: "项目未关联地图"})
+		// panic(dto.ErrorDto{Code: dto.DataNotExist, Message: "项目未关联地图"})
+		panic(sys_error.New("测试启动失败,项目未关联发布图"))
 	}
 	mapIds := make([]int32, len(mapInfos))
 	for i, mapInfo := range mapInfos {
 		mapIds[i] = mapInfo.ID
 	}
 	rsp := dto.SimulationCreateRspDto{ProjectId: req.ProjectId, MapId: mapIds[0], MapIds: mapIds}
-	rsp.SimulationId = simulation.CreateSimulation(req.ProjectId, mapIds)
+	simulationId, err := simulation.CreateSimulation(req.ProjectId, mapIds)
+	if err != nil {
+		panic(sys_error.New("测试启动失败", err))
+	}
+	rsp.SimulationId = simulationId
 	c.JSON(http.StatusOK, &rsp)
 }
 
diff --git a/api/user.go b/api/user.go
index b370a71..d1e0080 100644
--- a/api/user.go
+++ b/api/user.go
@@ -10,6 +10,7 @@ import (
 	"joylink.club/bj-rtsts-server/dto"
 	"joylink.club/bj-rtsts-server/middleware"
 	"joylink.club/bj-rtsts-server/service"
+	"joylink.club/bj-rtsts-server/sys_error"
 )
 
 func InitUserRouter(api *gin.RouterGroup, authMiddleware *jwt.GinJWTMiddleware) {
@@ -37,9 +38,12 @@ func register(c *gin.Context) {
 	user := &dto.RegisterUser{}
 	err := c.BindJSON(user)
 	if err != nil {
-		slog.Warn("用户注册失败", err)
+		panic(sys_error.New("注册失败,参数错误", err))
+	}
+	err = service.Register(user)
+	if err != nil {
+		panic(sys_error.New("注册失败", err))
 	}
-	service.Register(user)
 	c.JSON(http.StatusOK, "ok")
 }
 
diff --git a/ats/verify/simulation/simulation_manage.go b/ats/verify/simulation/simulation_manage.go
index 2b716b8..46ddee7 100644
--- a/ats/verify/simulation/simulation_manage.go
+++ b/ats/verify/simulation/simulation_manage.go
@@ -2,7 +2,6 @@ package simulation
 
 import (
 	"encoding/binary"
-	"fmt"
 	"strconv"
 	"sync"
 	"time"
@@ -10,6 +9,7 @@ import (
 	"joylink.club/bj-rtsts-server/ats/verify/protos/state"
 	"joylink.club/bj-rtsts-server/ats/verify/simulation/wayside/memory"
 	"joylink.club/bj-rtsts-server/config"
+	"joylink.club/bj-rtsts-server/sys_error"
 	"joylink.club/bj-rtsts-server/third_party/dynamics"
 	"joylink.club/bj-rtsts-server/third_party/semi_physical_train"
 
@@ -69,16 +69,18 @@ func IsExistSimulation() bool {
 }
 
 // 创建仿真对象
-func CreateSimulation(projectId int32, mapIds []int32) string {
+func CreateSimulation(projectId int32, mapIds []int32) (string, error) {
 	simulationId := createSimulationId(projectId)
 	_, e := simulationMap.Load(simulationId)
 	if !e && IsExistSimulation() {
-		panic(dto.ErrorDto{Code: dto.DataAlreadyExist, Message: "已有仿真在运行"})
+		// panic(dto.ErrorDto{Code: dto.DataAlreadyExist, Message: "已有仿真在运行"})
+		return "", sys_error.New("一套环境同时只能运行一个仿真")
 	}
 	if !e {
 		verifySimulation, err := memory.CreateSimulation(projectId, mapIds)
 		if err != nil {
-			panic(fmt.Sprintf("创建仿真失败:%s", err.Error()))
+			return "", err
+			// panic(fmt.Sprintf("创建仿真失败:%s", err.Error()))
 		}
 		verifySimulation.SimulationId = simulationId
 		if config.Config.Dynamics.Open {
@@ -86,7 +88,8 @@ func CreateSimulation(projectId int32, mapIds []int32) string {
 			lineBaseInfo := verifySimulation.BuildLineBaseInfo()
 			err := dynamics.Default().RequestStartSimulation(lineBaseInfo)
 			if err != nil {
-				panic(dto.ErrorDto{Code: dto.DynamicsError, Message: err.Error()})
+				return "", err
+				// panic(dto.ErrorDto{Code: dto.DynamicsError, Message: err.Error()})
 			}
 			dynamics.Default().Start(verifySimulation)
 		}
@@ -98,10 +101,13 @@ func CreateSimulation(projectId int32, mapIds []int32) string {
 		// if httpCode != http.StatusOK || err != nil {
 		// 	panic(dto.ErrorDto{Code: dto.DynamicsError, Message: fmt.Sprintf("动力学接口调用失败：[%d][%s]", httpCode, err)})
 		// }
-		simulationMap.Store(simulationId, verifySimulation)
 		// dynamicsRun(verifySimulation)
+
+		simulationMap.Store(simulationId, verifySimulation)
+		// 全部成功，启动仿真
+		verifySimulation.World.StartUp()
 	}
-	return simulationId
+	return simulationId, nil
 }
 
 // 删除仿真对象
diff --git a/ats/verify/simulation/wayside/memory/wayside_memory_map.go b/ats/verify/simulation/wayside/memory/wayside_memory_map.go
index 966e5a8..4986cc8 100644
--- a/ats/verify/simulation/wayside/memory/wayside_memory_map.go
+++ b/ats/verify/simulation/wayside/memory/wayside_memory_map.go
@@ -174,7 +174,10 @@ func turnoutMapToEcsLink(repo *repository.Repository, id string, port string, of
 	}
 	// 岔心公里标
 	crossKm = turnout.GetTurnoutKm(proto2.Port_None)
-	portKm = repo.ConvertKilometer(portKm, crossKm.CoordinateSystem)
+	portKm, err := repo.ConvertKilometer(portKm, crossKm.CoordinateSystem)
+	if err != nil {
+		panic(err)
+	}
 	// 关联link
 	link := portPosition.Link()
 	isStart := link.ARelation().Device().Id() == id
@@ -242,7 +245,10 @@ func ecsLinkMapToTurnout(repo *repository.Repository, isA bool, offset int64, up
 	deviceId = tp.Turnout().Id()
 	tpOffset := tp.Turnout().FindLinkPositionByPort(tp.Port()).Offset()
 	crossKmInfo, portKmInfo := tp.Turnout().GetTurnoutKm(proto2.Port_None), tp.Turnout().GetTurnoutKm(tp.Port())
-	portKmInfo = repo.ConvertKilometer(portKmInfo, crossKmInfo.CoordinateSystem)
+	portKmInfo, err := repo.ConvertKilometer(portKmInfo, crossKmInfo.CoordinateSystem)
+	if err != nil {
+		panic(err)
+	}
 	crossKm, portKm := crossKmInfo.Value, portKmInfo.Value
 	if isA {
 		deviceOffset = tpOffset - (tpOffset - offset)
diff --git a/ats/verify/simulation/wayside/memory/wayside_simulation.go b/ats/verify/simulation/wayside/memory/wayside_simulation.go
index 9add2e5..f8a6be4 100644
--- a/ats/verify/simulation/wayside/memory/wayside_simulation.go
+++ b/ats/verify/simulation/wayside/memory/wayside_simulation.go
@@ -4,6 +4,7 @@ import (
 	"fmt"
 	"log/slog"
 	"math"
+	"runtime"
 	"sort"
 	"strconv"
 	"strings"
@@ -14,6 +15,7 @@ import (
 	"joylink.club/bj-rtsts-server/ats/verify/protos/graphicData"
 	"joylink.club/bj-rtsts-server/ats/verify/protos/state"
 	"joylink.club/bj-rtsts-server/dto"
+	"joylink.club/bj-rtsts-server/sys_error"
 	"joylink.club/bj-rtsts-server/third_party/deprecated/vobc"
 	"joylink.club/bj-rtsts-server/third_party/message"
 	"joylink.club/ecs"
@@ -99,12 +101,12 @@ func CreateSimulation(projectId int32, mapIds []int32) (*VerifySimulation, error
 	if repo == nil {
 		protoRepo, err := buildProtoRepository(mapIds)
 		if err != nil {
-			return nil, err
+			return nil, sys_error.New("数据错误", err)
 		}
 		protoRepo.Id, protoRepo.Version = repoId, repoVersion
 		newRepo, err := repository.BuildRepository(protoRepo)
 		if err != nil {
-			return nil, err
+			return nil, sys_error.New("数据错误", err)
 		}
 		repo = newRepo
 	}
@@ -114,9 +116,10 @@ func CreateSimulation(projectId int32, mapIds []int32) (*VerifySimulation, error
 	// 构建所有UID映射关系，
 	allUidMap := buildRepositoryAllUidsMap(mapIds, repo)
 	//创建仿真
-	// worldId := world.CreateSimulation(repo)
-	w := rtss_simulation.NewSimulation(repo)
-	w.StartUp()
+	w, err := rtss_simulation.NewSimulation(repo)
+	if err != nil {
+		return nil, sys_error.New("仿真创建失败", err)
+	}
 	verifySimulation := &VerifySimulation{
 		MapIds:    mapIds,
 		ProjectId: projectId,
@@ -126,6 +129,11 @@ func CreateSimulation(projectId int32, mapIds []int32) (*VerifySimulation, error
 		WorldId:   w.Id(),
 		uidMap:    allUidMap,
 	}
+	// 保证World关闭
+	runtime.SetFinalizer(verifySimulation, func(verifySimulation *VerifySimulation) {
+		slog.Info("---关闭仿真World---")
+		verifySimulation.World.Close()
+	})
 	return verifySimulation, nil
 }
 
diff --git a/bj-rtss-message b/bj-rtss-message
index 43345d1..9b1c6d7 160000
--- a/bj-rtss-message
+++ b/bj-rtss-message
@@ -1 +1 @@
-Subproject commit 43345d1094b74b36e77d31ee3dc4b63557406604
+Subproject commit 9b1c6d78012eff4f9d300412ad41c8175751767d
diff --git a/init.go b/init.go
index a969e63..1e45d9b 100644
--- a/init.go
+++ b/init.go
@@ -1,6 +1,7 @@
 package main
 
 import (
+	"fmt"
 	"log/slog"
 	"net"
 	"net/http"
@@ -13,6 +14,7 @@ import (
 	"go.uber.org/zap"
 	"joylink.club/bj-rtsts-server/db/dbquery"
 	"joylink.club/bj-rtsts-server/dto"
+	"joylink.club/bj-rtsts-server/sys_error"
 
 	"github.com/gin-contrib/cors"
 	"github.com/gin-gonic/gin"
@@ -45,19 +47,32 @@ func InitServer() *gin.Engine {
 	engine.Use(cors.New(conf))
 	// gin panic 异常处理，默认处理为
 	engine.Use(CustomRecoveryWithSlog(slog.Default(), true, func(c *gin.Context, e interface{}) {
-		switch e := e.(type) {
-		case error:
-			c.JSON(http.StatusInternalServerError, &dto.ErrorDto{
-				Code:    dto.LogicError,
-				Tip:     dto.ErrorTipMap[dto.LogicError],
-				Message: e.Error(),
-			})
-		case dto.ErrorDto:
-			e.Tip = dto.ErrorTipMap[e.Code]
-			c.JSON(http.StatusInternalServerError, e)
-		default:
-			c.JSON(http.StatusInternalServerError, e)
+		be, ok := e.(*sys_error.BusinessError)
+		if !ok {
+			e, ok := e.(error)
+			if ok {
+				be = sys_error.New("未知错误", e)
+			} else {
+				be = sys_error.New("未知错误", fmt.Errorf("%v", e))
+			}
 		}
+		c.JSON(http.StatusInternalServerError, &dto.ErrorDto{
+			Tip:     be.UserMsg,
+			Message: be.Error(),
+		})
+		// switch e := e.(type) {
+		// case error:
+		// 	c.JSON(http.StatusInternalServerError, &dto.ErrorDto{
+		// 		Code:    dto.LogicError,
+		// 		Tip:     dto.ErrorTipMap[dto.LogicError],
+		// 		Message: e.Error(),
+		// 	})
+		// case dto.ErrorDto:
+		// 	e.Tip = dto.ErrorTipMap[e.Code]
+		// 	c.JSON(http.StatusInternalServerError, e)
+		// default:
+		// 	c.JSON(http.StatusInternalServerError, e)
+		// }
 		c.Writer.WriteHeaderNow()
 		c.Abort()
 	}))
diff --git a/middleware/auth.go b/middleware/auth.go
index 8f7a72f..fc74586 100644
--- a/middleware/auth.go
+++ b/middleware/auth.go
@@ -9,6 +9,7 @@ import (
 	"joylink.club/bj-rtsts-server/db/model"
 	"joylink.club/bj-rtsts-server/dto"
 	"joylink.club/bj-rtsts-server/service"
+	"joylink.club/bj-rtsts-server/sys_error"
 )
 
 // 用户权限缓存
@@ -40,7 +41,7 @@ func permissionMiddleware() gin.HandlerFunc {
 			return
 		}
 		slog.Error("无权限操作请求路径", "path", path, "method", method)
-		panic(dto.ErrorDto{Code: dto.NoAuthOperationError, Message: "无权限操作"})
+		panic(sys_error.New("权限不足"))
 	}
 }
 
diff --git a/rtss_simulation b/rtss_simulation
index 30c4210..7fb2536 160000
--- a/rtss_simulation
+++ b/rtss_simulation
@@ -1 +1 @@
-Subproject commit 30c4210a5d0411bb52d383bef7e77de7b9484800
+Subproject commit 7fb253612ec7ecfb0836e8c9c89cd6a4fc58f949
diff --git a/service/user.go b/service/user.go
index 26f78b5..832f0df 100644
--- a/service/user.go
+++ b/service/user.go
@@ -2,13 +2,13 @@ package service
 
 import (
 	"fmt"
-	"log/slog"
 	"sort"
 	"time"
 
 	"joylink.club/bj-rtsts-server/db/dbquery"
 	"joylink.club/bj-rtsts-server/db/model"
 	"joylink.club/bj-rtsts-server/dto"
+	"joylink.club/bj-rtsts-server/sys_error"
 )
 
 // 分页查询用户列表
@@ -28,23 +28,23 @@ func PagingQueryUser(query *dto.PageUserReqDto) (*dto.PageDto, error) {
 	return &dto.PageDto{Total: int(total), PageQueryDto: query.PageQueryDto, Records: linkUserRole(records)}, err
 }
 
-func Register(user *dto.RegisterUser) {
-	defer func() {
-		err := recover()
-		if err != nil {
-			slog.Warn("用户注册失败", err)
-			panic(err)
-		}
-	}()
+func Register(user *dto.RegisterUser) error {
 	u := dbquery.User
 	uq := u.Where()
 	uq = uq.Where(u.Mobile.Eq(user.Mobile))
-	findCounter, _ := uq.Count()
+	findCounter, err := uq.Count()
+	if err != nil {
+		return sys_error.New("数据服务异常", err)
+	}
 	if findCounter > 0 {
-		panic(dto.ErrorDto{Code: dto.DataAlreadyExist, Message: "重复的手机号"})
+		return sys_error.New("手机号已存在")
 	}
 	user.RegisterTime = time.Now()
-	u.Save(user)
+	err = u.Save(user)
+	if err != nil {
+		return sys_error.New("数据服务异常", err)
+	}
+	return nil
 }
 
 func FindUserInfo(userId int32) *dto.UserRspDto {
diff --git a/sys_error/error.go b/sys_error/error.go
new file mode 100644
index 0000000..fe89c01
--- /dev/null
+++ b/sys_error/error.go
@@ -0,0 +1,61 @@
+package sys_error
+
+import (
+	"fmt"
+	"strings"
+)
+
+// 业务错误定义
+type BusinessError struct {
+	// 用户提示信息
+	UserMsg string
+	// 错误信息传递(用于开发回溯定位,不给用户展示)
+	Errors []string
+}
+
+// 新建业务错误
+// 如果errs为空,则返回一个只包含用户提示信息的业务错误
+// 如果errs不为空,如果errs是一个业务错误,则附加错误信息,否则返回一个包含用户提示信息和错误信息的业务错误
+func New(userMsg string, errs ...error) *BusinessError {
+	if len(errs) == 1 {
+		be, ok := errs[0].(*BusinessError)
+		if ok {
+			be.prependUserMsg(userMsg)
+			return be
+		} else {
+			return &BusinessError{
+				UserMsg: userMsg,
+				Errors:  []string{errs[0].Error()},
+			}
+		}
+	}
+	return &BusinessError{
+		UserMsg: userMsg,
+		// Errors:  convert(errs),
+	}
+}
+
+func IsBusinessError(err error) bool {
+	_, ok := err.(*BusinessError)
+	return ok
+}
+
+func (e *BusinessError) prependUserMsg(userMsg string) {
+	e.UserMsg = fmt.Sprintf("%s,%s", userMsg, e.UserMsg)
+}
+
+// func convert(err []error) []string {
+// 	s := []string{}
+// 	for _, e := range err {
+// 		s = append(s, e.Error())
+// 	}
+// 	return s
+// }
+
+func (e *BusinessError) Append(err error) {
+	e.Errors = append(e.Errors, err.Error())
+}
+
+func (e *BusinessError) Error() string {
+	return strings.Join(e.Errors, ", ")
+}
diff --git a/third_party/dynamics/dynamics.go b/third_party/dynamics/dynamics.go
index 4b18cae..552c210 100644
--- a/third_party/dynamics/dynamics.go
+++ b/third_party/dynamics/dynamics.go
@@ -11,6 +11,7 @@ import (
 	"time"
 
 	"joylink.club/bj-rtsts-server/config"
+	"joylink.club/bj-rtsts-server/sys_error"
 	"joylink.club/bj-rtsts-server/third_party/message"
 	"joylink.club/bj-rtsts-server/third_party/udp"
 )
@@ -117,14 +118,14 @@ func (d *dynamics) RequestStartSimulation(base *message.LineBaseInfo) error {
 	data, _ := json.Marshal(base)
 	resp, err := d.httpClient.Post(url, "application/json", bytes.NewBuffer(data))
 	if err != nil {
-		return fmt.Errorf("请求启动仿真异常: %v", err)
+		return sys_error.New("动力学开始仿真请求发送错误", err)
 	}
 	defer resp.Body.Close()
 
 	var buf []byte
 	_, err = resp.Body.Read(buf)
 	if err != nil {
-		return fmt.Errorf("请求启动仿真读取相应异常: %v", err)
+		return sys_error.New("动力学开始仿真请求响应错误", err)
 	}
 	return nil
 }