CN102566561B - Method and device for diagnosing automotive electronic control unit faults based on semi-physical simulation - Google Patents
Method and device for diagnosing automotive electronic control unit faults based on semi-physical simulation Download PDFInfo
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Abstract
The invention relates to a method and a device for diagnosing automotive electronic control unit faults based on semi-physical simulation. The method comprises the steps that (1) a personal computer (PC) and a control system send standard input information to an electronic control unit to be detected and send standard output response information to a fault diagnosis and display module; (2) the electronic control unit to be detected processes and sends out the output response information; (3) the fault diagnosis and display module compares the standard output response information with output response information of electronic control unit (ECU) to be detected to draw a conclusion whether the electronic control unit to be detected breaks down; and (4) changing some input information, and diagnosing fault properties of the electronic control unit to be detected. The device comprises the PC, the control system and a simulation controller. Compared with the prior art, by means of the method and the device for diagnosing the automotive electronic control unit faults based on the semi-physical simulation, the fault clearing flow of an automotive electronic control is greatly simplified, the fault clearing range is narrowed, the fault diagnosis rate is further improved, maintenance workload result from diagnosis of replacement parts and fund employment amount of stock parts are effectively reduced, thus the maintenance cost is greatly reduced.
Description
Technical field
The present invention relates to a kind of vehicle failure method and device, especially relate to a kind of method and device of the diagnosis automobile electronic control unit fault based on semi-physical simulation.
Background technology
The fault diagnosis of automobile electric control system is generally by special diagnostics interface on automobile, reads the diagnostic trouble code of exporting from automobile ECU (ECU (Electrical Control Unit)) with demoder, and diagnostic trouble code is made an explanation, and shows fault content.This diagnostic mode is a kind of diagnostic mode of passive read failure, can not diagnose the internal fault of ECU and dynamic fault.Automobile ECU diagnostic trouble code can have the following aspects to produce: 1, the fault of sensor own, i.e. sensor cisco unity malfunction; 2, signal transfer medium fault, i.e. automotive wire bundle short circuit and fault; 3, ECU internal hardware fault; 4, ECU in house software fault.
In fact, the failure rate of ECU own is not little: ECU hardware fault comprises short circuit or the short circuit etc. of its leading foot; ECU software fault, such as control program and parameter are lost the mistake control and the consequent diagnostic trouble code etc. that cause, cause automobile usually to occur having fault, having a yard non-fault without code, and the problem such as diagnostic trouble code is not corresponding with fault, make the diagnostic trouble code that auto repair personnel cannot read according to demoder directly judge vehicle failure parts and reason.Generally adopt in the industry at present " method of substitution ", that is, for the automobile electric control system fault coverage of diagnostic trouble code instruction, adopt Qualified Parts, start to substitute one by one from peripheral (comprising sensor, actuator and relevant wire harness).If fault disappears after certain qualified parts substitutes, these parts are the source of trouble; If it is all invalid to substitute all, is finally just inferred as ECU fault.Due to automobile sensor and actuator installation site very narrow and small and compact, wire harness lay and trend very complicated, sometimes because there is no the qualified substitutions of elements delay repair of need ordering goods, and late accessory may not be fault basic reason.Obviously, this maintenance mode not only spends a large amount of manpowers and time, also must a large amount of Qualified Parts of stock including ECU.Motor vehicle repair type that enterprise repairs is more, and required stock's spare part is also just more, and the circulating capital amount taking is also just larger.
Summary of the invention
Object of the present invention is exactly to provide a kind of investigation flow process of not only greatly simplifying automobile electric control system fault in order to overcome the defect that above-mentioned prior art exists, dwindle malfunction elimination scope, but also improve fault diagnosis rate, and effectively reduce substitutions of elements and diagnose maintenance load and the stock's parts fund occupancy volume brought, thereby greatly reduce method and the device of the diagnosis automobile electronic control unit fault based on semi-physical simulation of maintenance cost.
Object of the present invention can be achieved through the following technical solutions: the method for the diagnosis automobile electronic control unit fault based on semi-physical simulation, it is characterized in that, and the method comprises the following steps:
1) tester sets operating mode by one in human-computer interaction interface choice criteria database;
2) high speed processing PC is crossed emulation controller by corresponding this operating mode standard input information exchange and is sent to ECU (Electrical Control Unit) to be checked, corresponding this operating mode standard output response message is sent into the random memory in fault diagnosis and display module simultaneously;
3) ECU (Electrical Control Unit) to be checked is processed standard input information, produces ECU (Electrical Control Unit) output response message to be checked and is transported to the random memory in fault diagnosis and display module through emulation controller;
4) fault diagnosis and display module are compared standard output response message and ECU (Electrical Control Unit) to be checked output response message, and judge that all output of ECU (Electrical Control Unit) to be checked response is whether within the scope of the permissible variation of setting, in display, show that if the judgment is Yes ECU (Electrical Control Unit) to be checked is normal, otherwise show that ECU (Electrical Control Unit) to be checked exists fault, and carry out step 5);
5) tester changes certain input message;
6) operating mode input message is sent to emulation controller by the monitoring of high speed processing PC and human-computer interaction module, emulation controller sends sensor die analog signal, gauge tap signal and the engine phase signal now through D/A conversion by high speed interface to ECU (Electrical Control Unit) to be checked, ECU (Electrical Control Unit) output drive control signal to be checked, drive control signal is sent high speed processing PC back to after being gathered by emulation controller;
7) high speed processing PC calls the engine mockup corresponding with ECU (Electrical Control Unit) to be checked, to its input drive control signal, engine mockup simulation calculation goes out to simulate rotating speed and other control parameter, these signals are flowed to ECU (Electrical Control Unit) to be checked again by emulation controller high speed interface, after ECU (Electrical Control Unit) operation to be checked, the drive control signal of output feeds back to the engine mockup of high speed processing PC, repeating step 7 again) until the each stable output signal of ECU (Electrical Control Unit) to be checked;
8) tester changes certain input message, and the change of the corresponding output of real-time monitored display screen, according to the control strategy of ECU (Electrical Control Unit) to be checked, diagnoses out the nature of trouble of ECU (Electrical Control Unit) to be checked.
Described step 1) in the foundation of standard database comprise the following steps:
11) high speed processing PC calls standard database and reads in function, gathers the output of known standard target ECU (Electrical Control Unit), and the output of the input of this operating mode and standard target ECU (Electrical Control Unit) is carried out to system banner, sets up corresponding standard ECU (Electrical Control Unit) input-output;
12) sample the known standard target ECU (Electrical Control Unit) of multiple same models in step 11) standard output under described input, obtain the permissible variation of standard output;
13) change step 11) in setting operating mode, change the input of known standard target ECU (Electrical Control Unit), repeating step 11) and step 12), set up thus the standard database that under same operating, input-output and permissible variation are associated.
Described step 8) in input message comprise throttle opening, engine load, water temperature, oil temperature, air-conditioning switch, Transmission gear.
Described step 12) in preferably 3～5 of the known standard target ECU (Electrical Control Unit) of multiple same models.
The device of the diagnosis automobile electronic control unit fault based on semi-physical simulation, is characterized in that, this device comprises PC and control system, USB CAN converter, emulation controller.Described PC control system comprises high speed processing PC, monitoring and human-computer interaction module, engine simulation model module, normal data library module, fault diagnosis and display module.Described high speed processing PC is monitored by total line traffic control and human-computer interaction module, engine simulation model module, normal data library module, fault diagnosis and display module; Described PC and control system are connected with emulation controller by USB CAN converter.
Described emulation controller comprises at least two-way programmable switch amount or frequency quantity output circuit, multichannel programmable D/A output circuit, multichannel programmable I/O output circuit, multichannel I/O input circuit, multi-channel A/D input circuit, and high speed interface, described emulation controller is connected with ECU (Electrical Control Unit) to be checked by high speed interface.
Described fault diagnosis and display module comprise random access memory, internal data memory, comparer.
Compared with prior art, the present invention has the following advantages:
1, use the present invention, realize automobile electronic control unit ECU leave the car to diagnose, not only greatly simplify the investigation flow process of automobile electric control system fault, dwindle malfunction elimination scope, but also improved fault diagnosis rate, and effectively reduce substitutions of elements and diagnose maintenance load and the stock's parts fund occupancy volume brought.
2, the present invention adopts Digital Simulation engine mockup to substitute actual engine and running environment thereof, when engine simulation model and real car ECU (Electrical Control Unit) (being called for short target ECU) online, while carrying out real-time simulation dry run, this system can be regarded as a "black box".Adopt a known standard ECU as target ECU, setting the system banner that carries out standard ECU input-output parameter under operating mode, Criterion ECU input-output database.
3, the present invention is by meeting its normal work desired signal in the input of ECU input end, detect the each output response signal of ECU, and respectively export response as reference taking standard ECU duty, by comparing one by one standard and fault some characteristic index of ECU output signal to be checked, judge that ECU to be checked output is whether within the scope of the permissible variation of setting, if all output all, setting separately in deviation, represents that ECU to be checked is normal; If otherwise exceed this scope, represent that ECU to be checked exists fault, and then judge automobile electrically-controlled ECU nature of trouble.To part ECU software fault, can be under the help of former automobile factory, by again reading in control program and parameter is repaired; To part ECU hardware fault (as leading foot gets loose etc.), use suitable instrument to be repaired, thereby greatly reduce maintenance cost.
4, by dynamically changing ECU input signal at apparatus of the present invention interface, show in real time its relevant output, according to the control strategy of this automatically controlled ECU, can Accurate Diagnosis have the character of ECU fault.
Brief description of the drawings
Fig. 1 is the process flow diagram of the inventive method;
Fig. 2 is structural representation of the present invention.
Embodiment
Below in conjunction with the drawings and specific embodiments, the present invention is described in detail.
Embodiment
As shown in Figure 1, the method for the diagnosis automobile electronic control unit fault based on semi-physical simulation, the method comprises the following steps:
Step 101) tester sets operating mode by one in human-computer interaction interface choice criteria database.The foundation of standard database comprises the following steps: 11) high speed processing PC calls standard database and reads in function, gather the output of known standard target ECU (Electrical Control Unit), and the output of the input of this operating mode and standard target ECU (Electrical Control Unit) is carried out to system banner, set up corresponding standard ECU (Electrical Control Unit) input-output; 12) the known standard target ECU (Electrical Control Unit) of 3～5 same models of sampling is in step 11) standard output under described input, obtain the permissible variation of standard output; 13) change step 11) in the operating mode that sets, change the input of known standard target ECU (Electrical Control Unit), repeating step 11) and step 12), set up thus the standard database that under same operating, input-output and permissible variation are associated.
Step 102) high speed processing PC crosses emulation controller by corresponding this operating mode standard input information exchange and sends to ECU (Electrical Control Unit) to be checked, corresponding this operating mode standard output response message sent into the random memory in fault diagnosis and display module simultaneously;
Step 103) ECU (Electrical Control Unit) to be checked processes standard input information, and the output response message that it produces is transported to the random memory in fault diagnosis and display module after being gathered by emulation controller;
Step 104) fault diagnosis and display module compare standard output response message and ECU (Electrical Control Unit) to be checked output response message, and judge that ECU (Electrical Control Unit) to be checked output response is whether within the scope of the permissible variation of setting, in display, show that if the judgment is Yes ECU (Electrical Control Unit) to be checked is normal, otherwise show that ECU (Electrical Control Unit) to be checked exists fault, and carry out step 105);
Step 105) tester changes certain input message;
Step 106) high speed processing PC is monitored and operating mode input message is sent to emulation controller by human-computer interaction module, emulation controller sends sensor die analog signal, gauge tap signal and the engine phase signal now through D/A conversion by high speed interface to ECU (Electrical Control Unit) to be checked, ECU (Electrical Control Unit) output drive control signal to be checked, emulation controller is sent high speed processing PC back to after gathering these drive control signal;
Step 107) high speed processing PC calls the corresponding engine mockup of ECU (Electrical Control Unit) to be checked, to its input drive control signal, engine mockup carries out Digital Simulation computing, obtain simulating rotating speed and other control parameters, these signals are flowed to ECU (Electrical Control Unit) to be checked again by emulation controller high speed interface, the drive control signal of ECU (Electrical Control Unit) output to be checked feeds back to the engine mockup of high speed processing PC, repeating step 107 again) until the each stable output signal of ECU (Electrical Control Unit) to be checked;
Step 108) tester changes certain input message as throttle opening, engine load, water temperature, oil temperature, air-conditioning switch, Transmission gear, the change of the corresponding output of real-time monitored display screen, according to the control strategy of ECU (Electrical Control Unit) to be checked, diagnose out the nature of trouble of ECU (Electrical Control Unit) to be checked.
As shown in Figure 2, the device of the diagnosis automobile electronic control unit fault based on semi-physical simulation, this device comprises PC and control system 1, USB CAN converter 2, emulation controller 3.PC and control system 1 comprise high speed processing PC 11, monitoring and human-computer interaction module 12, engine simulation model module 13, normal data library module 14, fault diagnosis and display module 15.High speed processing PC 11 is monitored by total line traffic control and human-computer interaction module 12, engine simulation model module 13, normal data library module 14, fault diagnosis and display module 15.PC and control system 1 are connected with emulation controller 3 by USB CAN converter 2.Emulation controller 3 comprises at least two-way programmable switch amount output circuit, multichannel programmable D/A output circuit, multichannel programmable I/O output circuit, multichannel I/O input circuit, multi-channel A/D input circuit, and high speed interface.Emulation controller 3 is connected with ECU (Electrical Control Unit) 4 to be checked by high speed interface.Fault diagnosis and display module 15 comprise random access memory, internal data memory, comparer.
The device of the diagnosis automobile electronic control unit fault based on semi-physical simulation, by the alternative actual engine of Digital Simulation engine mockup and running environment thereof, after itself and real car ECU (Electrical Control Unit) (being called for short target ECU) are online, real-time simulation dry run, by detecting the output of target ECU and comparing with standard ECU output, realize the fault diagnosis to target ECU.Apparatus of the present invention are provided with " dry run ", three kinds of mode of operations of " building database " " diagnosis ":
When " dry run ", PC monitoring and human-computer interaction module first tester on device interface is set operating mode input (as, throttle opening, engine load, water temperature, oil temperature, air-conditioning switch, Transmission gear etc.) send to emulation controller; Sensor die analog signal, gauge tap signal and the engine that emulation controller is changed through D/A to target ECU transmission by high speed interface phase signal (CMPS Camshaft Position Sensor signal and crankshaft rotational speed sensor signal) now, the drive control signal such as oil spout, igniting that constantly receiving target ECU exports simultaneously, and send it back high speed processing PC; High speed processing PC calls engine mockup analogue simulation and obtains its simulation rotating speed and other control parameters, give again target ECU by these signals by emulation controller data-interface, the output of ECU feeds back to the engine mockup of high speed processing PC again ... after some circulations, the each stable output signal of target ECU.By real-time display window, can clearly see the main waveform of oil spout, the igniting etc. of exporting in target ECU dry run.When change certain input signal at human-computer interaction interface, the change of the corresponding output of real-time monitored display screen, according to the control strategy of target ECU, can accurately infer the nature of trouble of ECU.
When being operated in " building database " state, high speed processing PC calls standard database and reads in function, gathers the output of known standard target ECU, and the output of the input of this operating mode and target ECU is carried out to system banner, Criterion ECU input-output.Consider that same model standard ECU may exist certain output bias, the standard output of sampling under 3～5 identical inputs of intact ECU, obtains the permissible variation of standard output.Change and set operating mode, change the input of ECU, the ECU standard output that can be answered in contrast, thus Criterion ECU input-output database.
When being operated in " diagnosis " state, now carry out the fault ECU diagnosis of (being called for short ECU to be checked), high speed processing PC calls fault diagnosis and display module and normal data library module read out function.Tester is by human-computer interaction interface choice criteria database, certain sets operating mode, so high speed processing PC sends to ECU to be checked by series of standards input under this operating mode by emulation controller, corresponding standard output is sent into the random access memory in fault diagnosis and display module simultaneously, high speed processing PC is sent the ECU output to be checked receiving into fault diagnosis and display module, carry out ECU output to be checked and comparing that standard ECU exports, if difference all, in the deviation range of regulation, thinks that ECU to be checked is normal; Otherwise, think ECU fault to be checked.Diagnostic result enters internal data memory and shows fault content.
As shown in Figure 2, apparatus of the present invention substitute actual engine and running environment thereof with the engine mockup real-time simulation in high speed processing PC, need the real car ECU (Electrical Control Unit) (being called for short target ECU) detecting to be connected with high speed processing PC by the high speed interface of analogue system.The formation of the communication interface USB CAN that between PC wherein and control system, emulation controller, PC and control system and emulation controller, information is transmitted etc. and effect are as follows:
1, PC control module:
High speed processing PC is monitored by total line traffic control and the operation of human-computer interaction module, engine simulation model module, normal data library module, fault diagnosis and display module etc.
● monitoring and human-computer interaction module: provide friendly man-machine interactive interface, in real time display-object ECU State-output and diagnostic result; According to apparatus of the present invention duty conversion command, realize and call that engine simulation model module is carried out simulation calculating control, set up ECU standard input output database (function is read in calling data storehouse), failure diagnostic process control (data comparison in real time, event memory and relevant show etc. are read and exported to database).
● engine simulation model: it is the virtual engine in whole analogue system.Adopt average engine mockup accurately dynamically to predict the necessary variable of some engines, select Matlab/Simulink software to carry out modeling, be converted into and can carry out C language file through RealTime workshop, can accelerate simulation calculation.
● normal data library module
Support the read-write data memory of large capacity of read in real time-read operation.
● fault diagnosis and display module
Formed by random access memory and internal data memory, comparer etc.Random access memory is mainly used in depositing some standard output signals from standard ECU database temporarily; Internal data memory is used for depositing comparative result information, and shows in the window of Man Machine Interface.
2, emulation controller
Emulation controller is as the connecting interface between target ECU and PC control module, the setting working condition requirement that should be able to send according to high speed processing PC, simulation produces a series of input signals and sends to target ECU, drive ECU work, meanwhile, emulation controller constantly gathers target ECU output signal and sends high speed processing PC back to.Consider target ECU input-output semaphore request, being attached thereto the simulation hardware interface connecing should have:
● at least 2 road programmable switch amount or frequency quantity output circuits
The tach signal of sending according to high speed processing PC, produces corresponding CMPS Camshaft Position Sensor and crankshaft rotational speed sensor signal and sends into target ECU respective input mouth.
● multichannel programmable D/A output circuit
Each sensor signal (as: throttle position, coolant water temperature, intake air temperature, MAP etc.) of sending according to high speed processing PC, produces corresponding analog voltage signal and sends into target ECU respective input mouth.
● multichannel programmable I/O output circuit
The I/O digital signal (as: Keying spoon switch, idling contact switch, neutral position switch, air-conditioning request switch, brake switch etc.) of sending according to high speed processing PC, produce corresponding low and high level switch controlling signal, and send into target ECU respective input mouth.
● multichannel I/O input circuit
The low and high level signal of the driving relay switch of collection target ECU output, after I/O interface conversion, becomes digital signal and sends high speed processing PC back to.
● multi-channel A/D input circuit
Gather the analog signals of ECU output, send high speed processing PC back to through A/D conversion.
● high speed interface is supported the high-speed transfer of input/output signal between target ECU and emulation controller.
● the current signal of the solenoid valve classes such as the driving fuel injector of collection ECU output, after shaping filterization is processed, send high speed processing PC back to.
3, CAN communication interface---USB CAN converter
Adopt USB CAN software driver, send the instruction of high speed processing PC to emulation controller in real time, receive the data message from emulation controller simultaneously, realize the communication between PC control module and analogue system.
Claims (4)
1. the method for the diagnosis automobile electronic control unit fault based on semi-physical simulation, is characterized in that, the method comprises the following steps:
1) tester sets operating mode by one in human-computer interaction interface choice criteria database;
2) PC is crossed emulation controller by corresponding this operating mode standard input information exchange and is sent to ECU (Electrical Control Unit) to be checked, corresponding this operating mode standard output response message is sent into the random memory in fault diagnosis and display module simultaneously;
3) ECU (Electrical Control Unit) to be checked is processed rear its output response message to standard input information and is transported to the random memory in fault diagnosis and display module by emulation controller collection;
4) fault diagnosis and display module are compared standard output response message and ECU (Electrical Control Unit) to be checked output response message, and judge that all output of ECU (Electrical Control Unit) to be checked response is whether within the scope of the permissible variation of setting, in display, show that if the judgment is Yes ECU (Electrical Control Unit) to be checked is normal, otherwise show that ECU (Electrical Control Unit) to be checked exists fault, and carry out step 5);
5) tester manually changes 1～2 input message under certain setting operating mode;
6) operating mode input message is sent to emulation controller by PC control monitoring and human-computer interaction module, emulation controller sends sensor die analog signal, gauge tap signal and the engine phase signal now through D/A conversion by high speed interface to ECU (Electrical Control Unit) to be checked, ECU (Electrical Control Unit) output drive control signal to be checked, emulation controller is transmitted back to PC after gathering these drive control signal;
7) PC calls and the corresponding engine simulation model of ECU (Electrical Control Unit) to be checked, to its input drive control signal, the computing of engine simulation model analogue simulation draws simulation rotating speed and other control parameters, these signals are flowed to ECU (Electrical Control Unit) to be checked again by emulation controller high speed interface, the drive control signal of ECU (Electrical Control Unit) output to be checked feeds back to the engine simulation model of PC, repeating step 7 again) until the each stable output signal of ECU (Electrical Control Unit) to be checked;
8) tester changes certain input message, and the change of the corresponding output of real-time monitored display screen, according to the control strategy of ECU (Electrical Control Unit) to be checked, diagnoses out the nature of trouble of ECU (Electrical Control Unit) to be checked.
2. the method for the diagnosis automobile electronic control unit fault based on semi-physical simulation according to claim 1, is characterized in that, the foundation of the standard database in described step 1) comprises the following steps:
11) PC calls standard database and reads in function, gathers the output of known standard target ECU (Electrical Control Unit), and the output of the input of this operating mode and standard target ECU (Electrical Control Unit) is carried out to system banner, sets up corresponding standard ECU (Electrical Control Unit) input-output;
12) the known standard target ECU (Electrical Control Unit) of the multiple same models standard output under the input described in step 11) of sampling, obtains the permissible variation of standard output;
13) change the operating mode setting in step 11), change the input of known standard target ECU (Electrical Control Unit), repeating step 11) and step 12), the standard database that input-output and permissible variation are associated set up thus under different operating modes.
3. the method for the diagnosis automobile electronic control unit fault based on semi-physical simulation according to claim 1, it is characterized in that, the input message in described step 8) comprises throttle opening, engine load, water temperature, oil temperature, air-conditioning switch, Transmission gear.
4. the method for the diagnosis automobile electronic control unit fault based on semi-physical simulation according to claim 2, is characterized in that, preferably 3～5 of the known standard target ECU (Electrical Control Unit) of the multiple same models in described step 12).
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| 发动机工况实时仿真测试系统;霍亮生 等;《计算机仿真》;20071031;第24卷(第10期);216-219 * |
| 霍亮生 等.发动机工况实时仿真测试系统.《计算机仿真》.2007,第24卷(第10期),216-219. |
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