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Collaborative simulation has become an important process of complex product development and works as a key technology to improve product dynamic characteristics and synthetic performances. This paper firstly introduces a model description of collaborative simulation, and gives a systematic analysis on all kinds of factors which affect performance of algorithm including speed, precision and convergence, etc. Then a basic algorithm of collaborative simulation and an improved edition of algorithm from the perspective of step size control are proposed, the later of which can increase simulation speed while guaranteeing precision and convergence. An example is given to verify its validity.