CN101308365A - Quick control prototype system and realization method - Google Patents
Quick control prototype system and realization method Download PDFInfo
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- CN101308365A CN101308365A CNA2008101305317A CN200810130531A CN101308365A CN 101308365 A CN101308365 A CN 101308365A CN A2008101305317 A CNA2008101305317 A CN A2008101305317A CN 200810130531 A CN200810130531 A CN 200810130531A CN 101308365 A CN101308365 A CN 101308365A
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Abstract
The invention provides a rapid prototype control system, comprising a host computer, a target machine and a control target; the target machine comprises a download unit, an acquisition unit, a simulation unit, a control unit and a display unit. The download unit is used to download the real-time control program and the simulation program from the host computer; the acquisition unit is used to collect the operating data of the control target; the simulation unit is used to operate the simulation program and simulate the operating data, and transfer the simulated result to the control unit and the display unit; the control unit is used to operate the real-time control program and switch the simulated result into a control signal, and then uses the control signal to control the operation of the control target; the display unit is used to display the simulated result. The invention displays the simulated result on the target machine and can make real-time observation of the simulation status through the simulated result displayed on the target machine so as to timely control the control target; the invention provides a low-cost rapid prototype control system.
Description
Technical field
The present invention relates to the data simulation field, particularly a kind of system and implementation method that realizes rapid control prototyping.
Background technology
Rapid control prototyping technology (RCP, Rapid Control Prototyping) is derived from manufacturing rapid prototyping technology (RP, Rapid Prototyping).In the initial stage of system development, set up controlling object and controller model apace, and total system is carried out repeatedly off-line and online test come that the access control system is soft, the feasibility of hardware plan, claim that this process is RCP.This RCP technology is widely used in the R﹠D process of A/C transmission control system, to improve the degree of confidence of A/C transmission control system emulation.
Referring to Fig. 1, be existing quick control prototype system, comprise main frame 101, embedded target machine 102, reach controlled device 103.Main frame 101 is equipped with operating system and simulation software, and operating system is generally Windows, and simulation software is MATLAB, SIMULINK etc., and main frame 101 links to each other with embedded target machine 102 by Fast Ethernet.Embedded target machine 102 comprises microprocessor, and for example digital signal processor (DSP, Digital Signal Processor) or PowerPC are responsible for the computing and the processing of related data.Embedded target machine 102 is equipped with real time operating system, as QNX, ETS etc.Controlled device 103 is a field apparatus, as motor etc.
Main frame 101 is responsible for modeling, programming, and the processing such as compiling of real-time control routines, and the real-time control routine of processing is downloaded to embedded target machine 102.Embedded target machine 102 is gathered the service data of controlled device 103, and downloads simulated program from main frame 101, moves described simulated program, and this service data is carried out emulation.Embedded target machine 102 operation real-time control routines, according to simulation result, 103 operations of control controlled device.Simultaneously, embedded target machine 102 is sent to main frame 101 with simulation result, main frame 101 shows simulation result, main frame 101 links to each other with embedded target machine 102 by Fast Ethernet, this just requires described main frame 101 to have the high-speed data processing power, and is very high to described embedded target machine 102 performance requirements.Because the simulation result data are huge, described embedded target machine 102 transmits described simulation result needs long time delay to described main frame 101, causes described main frame 101 can not show simulation result in real time.
Summary of the invention
The technical matters that the present invention solves provides a kind of quick control prototype system and implementation method, and simulation result need not show on main frame, thereby reduction provides a kind of quick control prototype system cheaply to the target machine performance demands.
The invention provides a kind of quick control prototype system, comprise main frame, target machine and controlled device, described target machine comprises download unit, collecting unit, simulation unit, control module, reaches display unit;
Described download unit is used for downloading real-time control routine and simulated program from described main frame;
Described collecting unit is used to gather the service data of described controlled device;
Described simulation unit is used to move described simulated program, to described service data emulation, simulation result is passed to described control module and display unit;
Described control module is used to move described real-time control routine, and described simulation result is converted to control signal, utilizes described control signal to control described controlled device operation;
Described display unit is used to show described simulation result.
Preferably, described target machine comprises that also operational factor is provided with the unit, is used to be provided with the given parameter of simulated program.
Preferably, also comprise uploading unit on the described target machine, be used to upload simulation result to described main frame, described main frame is handled described analysis of simulation result.
Preferably, described system also comprises signal processing apparatus, is used for the output signal of described controlled device is carried out being passed to described collecting unit after filtering, the range conversion.
Preferably, described collecting unit comprises digital IO channel, analog-converted passage and pulse input channel, gathers switching signal, simulating signal and pulse signal respectively.
Preferably, described signal filtering is realized by 2 rank active filter circuits.
Preferably, described range conversion is realized by division circuit.
Preferably, described target machine is installed the DOS extender, is used to expand the access memory space of described target machine.
Preferably, described target machine also comprises the Shared Folders map unit, is used for the Shared Folders of described main frame is mapped to the local disk of described target machine.
Compared with prior art, the present invention has the following advantages:
The present invention carries out emulation by the described simulated program of operation on target machine to the service data of described controlled device, and on described target machine, show simulation result, can the real-time monitored simulation status by the simulation result that shows on the target machine, be convenient to control more in time controlled device, guaranteed the real-time of emulation, do not need simulation result uploaded on the main frame and show, reduced its communication ability of main frame and target machine, thereby reduce the target machine performance demands, a kind of quick control prototype system cheaply is provided.
Description of drawings
Fig. 1 is a system construction drawing of realizing rapid control prototyping in the prior art;
Fig. 2 is the first example structure figure of system that the present invention realizes rapid control prototyping;
Fig. 3 is the second example structure figure of system that the present invention realizes rapid control prototyping;
The Butterworth second-order filter circuit figure that Fig. 4 adopts when being signal Processing of the present invention;
Fig. 5 is the method first embodiment process flow diagram that the present invention realizes rapid control prototyping;
Fig. 6 is the method second embodiment process flow diagram that the present invention realizes rapid control prototyping.
Embodiment
For above-mentioned purpose of the present invention, feature and advantage can be become apparent more, the specific embodiment of the present invention is described in detail below in conjunction with accompanying drawing.
Referring to Fig. 2, this figure is the first example structure figure of system that the present invention realizes rapid control prototyping.Comprise main frame 110, target machine 220, reach controlled device 330.
Described main frame 110 is a PC, and Windows operating system and composing software are housed, and the preferred Open Watcom of described composing software C/C++1.5 compiler is realized writing and compiling of real-time control routine and simulated program.
Described real-time control routine and simulated program can also can be write with other language with the C language.For example assembly language, Java language etc.
Described download unit 201 is downloaded described real-time control routine and simulated program from main frame 110, described real-time control routine and simulated program move on described target machine 220.
Described collecting unit 204 is gathered the service data of described controlled device 330, sends described service data to described simulation unit 202; The service data of described controlled device 330 comprises switching signal, simulating signal and pulse signal.Described switching signal is gathered by the digital IO channel of described collecting unit 204.Described simulating signal is gathered by the analog to digital conversion passage of described collecting unit 204, and the analog quantity of gathering is converted to digital quantity.Described pulse signal is gathered by the pulse input channel of described collecting unit 204.
The described simulated program of described emulation module 202 operations, the service data of the described controlled device 330 of emulation is sent to described control module 205 and display unit 203 to simulation result.
Described display unit 203 shows described simulation result, comprises figure and data in the simulation process.Described figure and data show by the display window in the graphical user interface on the described target machine 220 (GUI, Graphics UserInterface).
The described real-time control routine of described control module 205 operations is converted to control signal with simulation result, exports to described controlled device 330, controls the running status of described controlled device 330.Described real-time control routine calculates the pulse-length modulation (PWM that needs output in simulation process, Pulse WidthModulation) width of signal, described width is converted into fiducial value, fiducial value is relatively big or small by the comparer and the timing value of described control module 205, when described timing value during greater than fiducial value, described comparer output high level, otherwise output low level.Described comparer is exported to described controlled device 330 with comparative result, controls the running status of described controlled device 330.
On the target machine 220 of the present invention disc operating system (DOS) (DOS is installed, Disk Operation System), and the DOS extender is installed, under the help of DOS extender, having overcome internal memory can not be above the restriction of 640KB, make real-time control routine can visit all Installed System Memories, can move 32 real-time control routine.Because DOS is single task operating system, when being specifically designed to emulation, can guarantee the real-time of emulation, and dos operating system is free, so just reduced the cost of whole RCP platform.On target machine, show described simulation result simultaneously, be convenient to the real-time monitored simulation status, can control controlled device more in time, do not need described simulation result uploaded on the main frame and show, reduced its communication ability requirement to main frame and target machine, thereby reduce the target machine performance demands, provide one to overlap real-time emulation system cheaply.
Referring to Fig. 3, this figure is the second example structure figure of system that the present invention realizes rapid control prototyping.Target machine increased uploading unit 226 that different with embodiment one is, given parameter set unit 224, and signal processing apparatus 33.Function among other parts and the embodiment one is identical, does not repeat them here.
Described uploading unit 226, the simulation result of uploading described simulation unit 225 is to described main frame 11.11 pairs of simulation results of described main frame carry out further analyzing and processing, revise described real-time control routine and simulated program according to analysis result and actual needs, described target machine 22 is downloaded described real-time control routine and simulated program again, continue to gather the service data of described controlled device 44, described service data is carried out emulation, monitor simulation status in real time by described display unit 227.
Described given parameter set unit 224, the parameter that needs in the time of can emulation being set by mouse or keyboard, such as voltage is set be ± 10V, ± 100V, ± 1000V etc.; Time that described simulation result shows be set be 1 second, 2 seconds, 3 seconds, 10 seconds etc.
Described signal processing apparatus 33 carries out filtering and conditioning to the service data of controlled device 44, and the described service data of handling well is sent to described collecting unit 222.For example to the processing of the current signal of described controlled device 44, at first the current signal of controlled device 44 outputs becomes voltage signal through overvoltage sensor, and voltage signal passes to described collecting unit 222 through second-order filter circuit and range conversion circuit again.Referring to Fig. 4, the Butterworth second-order filter circuit figure that the present invention adopts can certainly adopt and can realize other filtering circuits of the present invention.AN3 among Fig. 4 is the simulating signal of controlled device 44 outputs, through the described second-order active filter circuit of forming by resistance R 36, R37 and capacitor C 48 and C56 and amplifier C, behind the noise and burr in the described filtering circuit removal AN3 simulating signal, through the bleeder circuit of forming by resistance R 38 and R39 and amplifier D, because R38 is identical with the R39 resistance, realized that output signal is 1/2 of an input signal, for example input signal AN3 is ± voltage of 10V, output signal AO3 is ± 5V to have realized the range conversion of signal.AO3 is input to collecting unit 222, and collecting unit 222 carries out analog to digital conversion to it.
The digital I/O Signal Processing of 33 pairs of described controlled devices 44 of described signal processing apparatus is mainly range conversion, is 3.3V voltage with the 5V voltage transitions for example.
The Impulse Information Processing of 33 pairs of described controlled devices 44 of described signal processing apparatus sends described collecting unit 222 to for removing the burr in the pulse signal, and 222 pairs of described pulse signals of described collecting unit are counted.
Embodiment of the present invention can also be by utilizing mouse or the described real-time control routine of Keyboard Control operation and stop.
The present invention realizes that preferably the hardware of above-mentioned collecting unit and control module is Peripheral Component Interconnect (PCI, Peripheral Component Interconnect) integrated circuit board.According to requirements such as function, performance index, softwares, describe the standard of selecting the PCI integrated circuit board below in detail.
(1) can provide programmable real-time interrupt signal of cycle, and the minimal disruption cycle is 40us.
(2) 2 of pulse input channel numbers, transistor-transistor logic level/complementary metal oxide semiconductor (CMOS) level (TTL/CMOS, Transister-Transister Logic/Complementary MetalOxide Semiconductor), 16 of precision, maximum impulse incoming frequency 2MHz.
(3) 3 of pulse output channel numbers, the TTL/CMOS level.
(4) analog to digital conversion (A/D, Analog/Digital) port number is greater than 16, sampling precision is more than 12, each is more than the channel sample frequency 25KHz, range of signal-10V～+ 10V.
(5) digital IO channel is greater than 16, and the TTL/CMOS level is configurable.
(6) DOS storehouse or disclose register information is arranged, can realize the visit of these registers by software programming.
The present invention realizes that the hardware of described signal processing apparatus 33 is interface board, and below in conjunction with function and the performance requirement and the selected above-mentioned PCI integrated circuit board of RCP experiment table, this interface board design is as follows:
(1) handle the analog voltage signal be input to pci card, range of signal-10V～+ 10V, give the pci data capture card after through 2 rank Butterworth filtering, divided by 2, have 8 the tunnel.
(2) handle the analog voltage signal that is input to pci card, range of signal 0～+ 5V, after 2 rank Butterworth filtering, give the pci data capture card, have 12 the tunnel.
(3) handle 2 road code-disc pulses input that is input to pci card, after driving, send the step-by-step counting card.
(4) processing is input to pci card No. 6 speed-sensitive switch signals, send multifunctional data acquisition card after driving.
(5) handle pci card and export 3 road pwm signals.
(6) handle multifunctional data acquisition card and export 8 road I/O signals.
(7) link to each other by two DB37 parallel cables with pci card.
Certainly, can select different PCI integrated circuit board and interface board according to RCP experiment table environment of applications difference.
Msclient3.0 client network communication software is installed on the described target machine, Shared Folders in the main frame is mapped to the local disk of target machine, described real-time control routine is downloaded automatically, and described simulation result is uploaded automatically, finishes the function of described download module and last transmission module.
The present invention is by installing dos operating system on target machine, download real-time control routine and simulated program from main frame, service data to controlled device is carried out emulation, and on target machine, show figure and simulation result in the simulation process in real time, be convenient to the real-time monitored simulation status like this, and by the given parameter set unit on the target machine, in time emulation is responded, revise given parameter, realize control, be beneficial to the realization of rapid control prototyping controlled device.
Based on above-mentioned a kind of quick control prototype system, the present invention also provides a kind of rapid control prototyping implementation method, describes its workflow in detail below in conjunction with specific embodiment.
Referring to Fig. 5, a kind of rapid control prototyping implementation method first embodiment process flow diagram of the present invention.May further comprise the steps:
S501: modeling, write, compile real-time control routine and simulated program.According to the real-time control routine and the simulated program of the performance modeling emulation needs of controlled device, under specific operating system and software environment, write, compile described real-time control routine then.The present invention writes, compiles the preferred Windows operating system of software environment and the Open Watcom C/C++1.5 compiler of real-time control routine on main frame.OpenWatcom C/C++1.5 is a Ge specialty, C/C++ compiler superior performance, multi-platform, and having a whole set of powerful exploitation debugging acid, the energy structure is developed 16 and 32 application program of pure DOS, expansion DOS, WINDOWS95/98/ME, WINDOWS NT/2000/XP platform.The present invention uses two of Open Watcom C/C++1.5 and is characterized as:
(1) supports various DOS extenders.By the DOS extender, can under dos operating system, move 32 application programs, the memory headroom of visiting maximum 4GB.
(2) crossover-platform exploitation.Be the developer can develop non-Windows operating system under Windows operating system application program, for example under Windows XP system, develop 32 application programs of DOS.
S502: download described real-time control routine and described simulated program from described main frame.
Msclient3.0 client network communication software is installed on the target machine, the Shared Folders in the main frame is mapped to the local disk of target machine, described real-time control routine is downloaded automatically.
S503: the service data of gathering described controlled device.The service data of described controlled device comprises switching value, analog quantity and pulsed quantity or the like.The numeral IO channel is gathered described switching value.The analog to digital conversion passage is gathered described analog quantity, and the analog quantity of gathering is converted to digital quantity.The pulse input channel is gathered described pulsed quantity.
S504: move described simulated program the service data of described controlled device is carried out emulation.
S505: simulation result is converted to control signal, exports to described controlled device, control the operation of described controlled device.Real-time control routine calculates the width of the pwm signal that needs output in simulation process, described width is converted into fiducial value, and fiducial value is by comparer and timing value size relatively, when described timing value during greater than fiducial value, described comparer output high level, otherwise output low level.Described comparer is exported to described controlled device with comparative result, controls the running status of described controlled device.
S506: show described simulation result.Comprise figure and data in the simulation process.Described figure and data show by the display window in the graphical user interface on the described target machine (GUI, Graphics User Interface).
Need to prove that S505 and S506 do not have sequencing, in whole simulation process, the intermediate data of emulation and end product all can show on the GUI page in real time.
The present invention installs dos operating system on target machine, and the DOS extender is installed, and under the help of DOS extender, having overcome internal memory can not be above the restriction of 640KB, make real-time control routine can visit all Installed System Memories, can move 32 real-time control routine.Because DOS is single task operating system, when being specifically designed to emulation, can guarantee the real-time of emulation, and dos operating system is free, so just reduced the cost of whole RCP platform.On target machine, show described simulation result simultaneously, be convenient to the real-time monitored simulation status, can control controlled device more in time, avoiding simulation result to upload on the main frame shows, data communication to main frame and target machine requires to reduce greatly, thereby reduce the target machine performance demands, reach the purpose of real-time control controlled device.
Referring to Fig. 6, a kind of rapid control prototyping method second embodiment process flow diagram of the present invention.May further comprise the steps, that different with method embodiment one is S603 and S608, and other steps are identical with method embodiment one, do not repeat them here.
S603: the service data of described controlled device is carried out filtering, reached conditioning.For example to the processing of the current signal of described controlled device, the current signal that at first will control object output is transformed to voltage signal through overvoltage sensor, and voltage signal passes through second-order filter again, removes noise and burr in the signal.
After simulation result is converted to control signal, at first carry out range conversion and driving to control signal.For example 3.3V voltage is become the 5V voltage signal; Increase the load capacity of signal simultaneously, export to described controlled device, the running status of control controlled device.
S608: upload described simulation result.Upload described simulation result to described main frame.Described main frame carries out further analyzing and processing to simulation result, revise described real-time control routine according to analysis result and actual needs, described target machine is downloaded described real-time control routine again, continues to gather the service data of described controlled device, and described service data is carried out emulation.
Certainly, when carrying out emulation, can utilize the operation of mouse or the described real-time control routine of Keyboard Control and stop.The parameter that needs in the time of also can emulation being set by mouse or keyboard, such as voltage is set be ± 10V, ± 100V, ± 1000V etc.; Time that described simulation result shows be set be 1 second, 2 seconds, 3 seconds, 10 seconds etc.
Need to prove that in whole simulation process, the intermediate data of emulation and end product all can show in real time that on the GUI page simulation result can be uploaded to described main frame simultaneously, and the running status of output control signal control controlled device.
The present invention is by installing dos operating system on target machine, download real-time control routine and simulated program from main frame, service data to controlled device is carried out emulation, and on target machine, show figure and simulation result in the simulation process in real time, be convenient to the real-time monitored simulation status like this, and can in time respond, revise given parameter emulation by target machine, realization is beneficial to the realization of rapid control prototyping to the control of controlled device.
The above only is preferred embodiment of the present invention, is not the present invention is done any pro forma restriction.Though the present invention discloses as above with preferred embodiment, yet be not in order to limit the present invention.Any those of ordinary skill in the art, do not breaking away under the technical solution of the present invention scope situation, all can utilize the method and the technology contents of above-mentioned announcement that technical solution of the present invention is made many possible changes and modification, or be revised as the equivalent embodiment of equivalent variations.Therefore, every content that does not break away from technical solution of the present invention, all still belongs in the scope of technical solution of the present invention protection any simple modification, equivalent variations and modification that above embodiment did according to technical spirit of the present invention.
Claims (9)
1, a kind of quick control prototype system comprises main frame, target machine and controlled device, it is characterized in that, described target machine comprises download unit, collecting unit, simulation unit, control module, reaches display unit;
Described download unit is used for downloading real-time control routine and simulated program from described main frame;
Described collecting unit is used to gather the service data of described controlled device;
Described simulation unit is used to move described simulated program, to described service data emulation, simulation result is passed to described control module and display unit;
Described control module is used to move described real-time control routine, and described simulation result is converted to control signal, utilizes described control signal to control described controlled device operation;
Described display unit is used to show described simulation result.
2, system according to claim 1 is characterized in that, described target machine also comprises given parameter set unit, is used to be provided with the given parameter of simulated program.
3, system according to claim 1 is characterized in that, also comprises uploading unit on the described target machine, is used to upload simulation result to described main frame, and described main frame is handled described analysis of simulation result.
4, system according to claim 1 is characterized in that, described system also comprises signal processing apparatus, is used for the output signal of described controlled device is carried out being passed to described collecting unit after filtering, the range conversion.
5, system according to claim 1 is characterized in that, described collecting unit comprises digital IO channel, analog-converted passage and pulse input channel, gathers switching signal, simulating signal and pulse signal respectively.
6, system according to claim 4 is characterized in that, described signal filtering is realized by 2 rank active filter circuits.
7, system according to claim 4 is characterized in that, described range conversion is realized by division circuit.
According to each described system of claim 1 to 3, it is characterized in that 8, described target machine is installed the DOS extender, be used to expand the access memory space of described target machine.
9, according to each described system of claim 1 to 3, it is characterized in that described target machine also comprises the Shared Folders map unit, be used for the Shared Folders of described main frame is mapped to the local disk of described target machine.
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| CN101788820A (en) * | 2009-01-26 | 2010-07-28 | 通用汽车环球科技运作公司 | The rapid control prototyping of based target |
| CN102867080A (en) * | 2012-08-23 | 2013-01-09 | 重庆长安汽车股份有限公司 | MATLAB-based simulation method and device |
| CN102902207A (en) * | 2012-11-13 | 2013-01-30 | 中国人民解放军国防科学技术大学 | Method, device and system for integrated turntable control based on Matlab/VC |
| US8612192B2 (en) | 2010-05-24 | 2013-12-17 | GM Global Technology Operations LLC | Vehicle simulation system with software-in-the-loop bypass control |
| CN103699014A (en) * | 2013-12-02 | 2014-04-02 | 沈阳工业大学 | Semi-physical simulation platform and semi-physical simulation control method of electromobile |
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| CN104678967A (en) * | 2015-02-10 | 2015-06-03 | 贵州大学 | Method and equipment for realizing rapid prototype designing of PWM controller by combining universal industrial personal computer and DSP |
| CN105652859A (en) * | 2016-03-31 | 2016-06-08 | 北京经纬恒润科技有限公司 | Early production containment system for controller products |
| CN106468889A (en) * | 2016-09-06 | 2017-03-01 | 平高集团有限公司 | A kind of Fast mechanical switch semi-physical emulation platform |
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| CN101788820B (en) * | 2009-01-26 | 2013-09-18 | 通用汽车环球科技运作公司 | On-target rapid control prototyping |
| US8943467B2 (en) | 2009-01-26 | 2015-01-27 | GM Global Technology Operations LLC | On-target rapid control prototyping |
| CN101788820A (en) * | 2009-01-26 | 2010-07-28 | 通用汽车环球科技运作公司 | The rapid control prototyping of based target |
| US8739049B2 (en) | 2010-05-24 | 2014-05-27 | GM Global Technology Operations LLC | Vehicle system modeling systems and methods |
| US8612192B2 (en) | 2010-05-24 | 2013-12-17 | GM Global Technology Operations LLC | Vehicle simulation system with software-in-the-loop bypass control |
| CN102867080A (en) * | 2012-08-23 | 2013-01-09 | 重庆长安汽车股份有限公司 | MATLAB-based simulation method and device |
| CN102902207A (en) * | 2012-11-13 | 2013-01-30 | 中国人民解放军国防科学技术大学 | Method, device and system for integrated turntable control based on Matlab/VC |
| CN102902207B (en) * | 2012-11-13 | 2015-06-17 | 中国人民解放军国防科学技术大学 | Method, device and system for integrated turntable control based on Matlab/VC |
| CN103699014A (en) * | 2013-12-02 | 2014-04-02 | 沈阳工业大学 | Semi-physical simulation platform and semi-physical simulation control method of electromobile |
| CN104678967A (en) * | 2015-02-10 | 2015-06-03 | 贵州大学 | Method and equipment for realizing rapid prototype designing of PWM controller by combining universal industrial personal computer and DSP |
| CN104678967B (en) * | 2015-02-10 | 2017-07-11 | 贵州大学 | General industrial computer joint DSP realizes PWM controller Rapid Prototype Design method and apparatus |
| CN105652859A (en) * | 2016-03-31 | 2016-06-08 | 北京经纬恒润科技有限公司 | Early production containment system for controller products |
| CN105652859B (en) * | 2016-03-31 | 2019-10-18 | 北京经纬恒润科技有限公司 | A kind of early stage production suppression system of controller product |
| CN106468889A (en) * | 2016-09-06 | 2017-03-01 | 平高集团有限公司 | A kind of Fast mechanical switch semi-physical emulation platform |
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