CN100580586C - Development method of vehicle mounted distributed network control system - Google Patents
Development method of vehicle mounted distributed network control system Download PDFInfo
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- CN100580586C CN100580586C CN200610112636A CN200610112636A CN100580586C CN 100580586 C CN100580586 C CN 100580586C CN 200610112636 A CN200610112636 A CN 200610112636A CN 200610112636 A CN200610112636 A CN 200610112636A CN 100580586 C CN100580586 C CN 100580586C
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Abstract
The development method for vehicle-carried distributed network control system comprises: analyzing the vehicle members, vehicle-carried communication network and protocol to present the requirement on control and network communication for preliminary design; establishing network and protocol to theoretical validate; modeling and simulating the control system and network protocol; taking fast prototype design and test; developing real control system and communication network; building the distributed network hardware on-loop test environment for simulation. This invention can improve work quality and efficiency.
Description
Technical field
The present invention relates to a kind of development approach of vehicle mounted distributed network control system.
Background technology
Distributed network control system has outstanding advantages such as real-time is good, reliability is high, easy care in vehicle control syetem, obtained using widely on Hyundai Motor.Generally all have a plurality of electronic control units to carry out the control of vehicle on the Hyundai Motor, each ECU (Electrical Control Unit) is directly carried out exchanges data by network communication, thereby constitutes a kind of vehicle mounted distributed network control system.Vehicle mounted distributed network control system has promoted the application of auto electronic control technology in vehicle control, also bring new technical matters but then: the technical matters of existing control itself, the new problem that also has communication to bring, and control and the interactional problem of communication.Be in particular in: 1, between each control system network communication protocol is had very big dependence, promptly communications protocol has directly influenced the control performance of vehicle, and the formulation of communications protocol depends on the control requirement and the control algolithm of control system; 2, the exploitation of single control system needs the cooperation of other control system, if cooperate improperly, might cause that cost of development rises, the construction cycle prolongs; 3, the difficulty of test of distributed network control system is bigger, has both needed the test of individual system, also needs the integration test under the distributed network environment.
The development approach of vehicle mounted distributed network control system mainly is with the exploitation control system and formulates communications protocol and separately carry out at present, promptly formulate the network communication protocol of dcs by car load unit, by parts unit according to network communication protocol exploitation parts control system separately, and then the parts control system developed concentrated in together uniting and adjustment, solve whole dcs control and problem such as communication each other.When formulating communications protocol, mainly be to analyze the communication need of each parts control system and the characteristics of network communication itself, formulate a data communication agreement of taking into account each control system.But whether communications protocol really satisfies the needs that require of control system when the distributed system uniting and adjustment, can verify, if can not meet the demands, then need constantly revise communications protocol, and the modification of communications protocol can have influence on the modification of control system in the uniting and adjustment stage; Conversely, the modification of control system also may have influence on the modification of communications protocol; This is because there is the relation that intercouples between control algolithm and the communications protocol.During the exploitation control system, mainly be the function that when solving parts control algolithm problem, adds data communication, when some control function needs communication function just can finish, then need when the distributed system uniting and adjustment in later stage, solve.Formulate the communications protocol aspect, some solutions that occur in order to solve communications protocol design and validation problem have appearred, such as the software analysis of number of C AN bus and design tool (as CANoe), Chinese patent 200410009782.1 " vehicle-mounted CAN bus real-time emulation system " etc., the former can formulate in agreement and in early days communications protocol itself be done software emulation, but be difficult to verify the real-time of communications protocol, also be difficult to consider the characteristics of carrying out data communication in the distributed control procedure; Whether the latter can meet the demands by the real-time of network node in ring simulating, verifying agreement under the situation of not considering control procedure.Exploitation control system aspect, in order to shorten the construction cycle, to improve development quality, employing modeling and simulation, rapid prototype development, automatic code realization and hardware have occurred in developing instrument and methods such as ring tests, compared with traditional development scheme and can improve development quality greatly and shorten the construction cycle.Chinese patent 200410067082.8 " computer aided design method of vehicle-carrying distribution control system " mainly is the XML document of setting up at the communications protocol exchanges data of using, form the machine-readable data form of unified model, thereby be convenient to carry out computer-aided analysis, design and test, can improve the development efficiency that realizes communications protocol in the control system.This method mainly is applicable to have been formulated after the communications protocol, improves the efficient that communications protocol is converted to software code when control system is developed.Above-mentionedly control system exploitation and communications protocol are formulated the method for separating be convenient to different developers and do different work, but do not fully take into account in the dcs actual moving process, control is actually interrelated with communication and intercouples, such as adopting network simulation software and network not necessarily can reach in the dcs in reality, also differ and satisfy the actual requirement of distributed control surely in the network communication real-time performance that loop simulation system was verified; If do not reach requirement, still need find out problem wherein and communications protocol made amendment in the system integration and test stage.Again such as the control algolithm of carrying out proposing when control system is developed, when coming transmission control parameters by network communication if desired, then the control algolithm performance that can reach also can be subjected to the influence of network communication, just can pinpoint the problems when this also needs to system integration and test and revises solution.Development late stage is carried out big modification to communications protocol and control algolithm may be increased development risk greatly and be difficult to control progress and quality.The development approach of control system has only solved the development problem of control algolithm, and be that Bus simulator software and the network that the solution bus communication technology occurs only paid close attention to bus communication itself at loop simulation system, do not consider the characteristics that actual dcs communication and control intercouple, thereby still have limitation solving the problem that faces in the vehicle mounted distributed network control system development﹠ testing.
Summary of the invention
For overcoming that the cycle is long in the existing vehicle mounted distributed network control system development﹠ testing, cost is high and shortcoming such as difficult quality control, the present invention proposes the development approach of vehicle mounted distributed network control system under a kind of distributed network environment.The present invention carries out comprehensive Design with control algolithm and network communication protocol on stream, in each stage of exploitation overall process control algolithm and network communication protocol are carried out integration test and checking on the various aspects then, controlling and the problem of communication is found as early as possible and solved.
The technical solution used in the present invention is: the vehicle mounted distributed network control system performance history be divided into systematic analysis and primary design, modeling and simulation, rapid prototyping design, system realizes and hardware in five stages such as ring tests, all carry out the various integration tests and the checking of control system and communication network in each design phase, find that as early as possible control and problem and time update in the communication solve, so just can overcome in the existing development approach and just to find the drawback brought when the problem of control and communication is left to last comprehensive uniting and adjustment.
The first step of the present invention is to carry out the Design ﹠ Analysis of System of vehicle mounted distributed network control system.Vehicle component, vehicle mounted communication network and agreement are carried out systematic analysis, the control requirement and the network communication requirement of vehicle mounted distributed network control system are proposed, carry out the primary design of vehicle control syetem then, formulate communication network and agreement, at last preliminary design result and requirement are carried out theoretical validation.During systematic analysis, vehicle is divided into controlled device, and---being parts system, control system,---being control system, the communication network of parts---is four parts such as topological structure and communications protocol, control algolithm, communication network and communications protocol are analyzed, proposing control requires and communication need, primary design control algolithm and communications protocol, adopt the method for Theoretical Calculation to judge whether communication network and communications protocol can satisfy the requirement of control, if do not satisfy, checking again after then revising.
Second step was to carry out the modeling and simulation design.Vehicle component, vehicle control syetem and network communication protocol are carried out the modeling and simulation checking, mainly comprise the vehicle controlled device---be steps such as parts modeling, vehicle control system modeling, communication network modeling, the checking of communications protocol modeling and simulation.Wherein modeling belongs to the relevant modeling of control to the modeling of vehicle controlled device with vehicle control system, and modeling belongs to the relevant modeling of communication with communications protocol in the communication network modeling, can walk abreast to carry out the relevant modeling work relevant with communication of control.Carry out the simulating, verifying of whole vehicle mounted distributed network control system after all modeling work is finished.In the modeling process, vehicle-mounted controlled device is carried out mathematical abstractions, set up the mathematical model of vehicle-mounted controlled device based on modeling and simulation instrument (including but not limited to Matlab/Simulink etc.), all the mathematical model of controlled devices constitutes virtual vehicle parts system, various operating conditions that can simulating vehicle; According to the control algolithm of each control system, set up the mathematical model of each control system, constitute the virtual vehicle borne control system; Mathematical model according to the communication network and the communications protocol of primary design are set up communication network and communications protocol constitutes virtual communication network; The complete vehicle mounted distributed network control system model of the common formation of virtual vehicle parts system, virtual vehicle borne control system, virtual communication network and communications protocol.On this basis, control algolithm and communications protocol are carried out the emulation testing and the checking of pure software, find out wherein the problem that exists and make amendment, till the control requirement and communication need that can satisfy under the vehicle mounted distributed network control simulated environment.
The 3rd step was to carry out the rapid prototyping design.Virtual vehicle parts system model is operated in the real time execution environment (such as dSPACE or LabVIEW RT etc.) as controlled device, virtual vehicle borne control system and virtual vehicle mounted distributed network are operated in another real time execution environment, according to the interface requirement design controlled device of reality and the interface between software and hardware between the control system; The above-mentioned controlled device of moving in the real time execution environment and control system, communication network and communications protocol have constituted distributed network control rapid prototyping system jointly, on this basis control algolithm and communications protocol are carried out emulation testing and checking under the real time environment, find out wherein the problem that exists and make amendment, up to can satisfy that control requires and communication need till.
The 4th step was to carry out system to realize.Go out control system in kind according to the control system model development after the rapid prototyping testing authentication, realize its control function and communication function, specifically need hardware, software and the communication interface of exploitation control system; Go out actual communication network according to the communication network model development.Communication network by reality between the control system of developing in kind connects, and moves communications protocol in the communication network of reality, constitutes actual distributed network control system.
The 5th step was to carry out hardware in ring test.Build vehicle mounted distributed network control system hardware at the ring test environment, control system in kind, actual communication network are become the distributed network control system virtual testing environment with virtual vehicle parts system mutual group in running on the real time execution environment, carry out hardware under control algolithm and the communications protocol real-time network environment in ring test and checking, find out wherein the problem that exists and make amendment, till can satisfying control requirement and communication need fully.
So far, just finish vehicle mounted distributed network control system development of the present invention.
The present invention constantly tests, revises and verify control algolithm and communications protocol in each stage on stream, can find and solve potential control and communication problem to greatest extent in early days, thereby avoided classic method to carry out the drawback that the exploitation of control system and communications protocol brings respectively, can effectively improve development efficiency, reduce development risk and cost.
The prior art that the present invention adopts comprises that the modeling and simulation technology, rapid prototyping designing technique, CAN bus communication technology and the hardware that adopt modeling and simulation instrument (including but not limited to Matlab/Simulink etc.) are in the ring test technology.The modeling and simulation technology is mainly used in carries out mathematical analysis and mathematical modeling to Vehicular system and control system, sets up virtual vehicle on this basis.The rapid prototyping designing technique is moved controlling models in the real time execution environment, and carries out signal with controlled device and be connected, and carries out the quick design and the checking of control algolithm.The CAN bus communication technology is to carry out a kind of widely used bus communication technology that data connect between the control system, is used for carrying out data communication between each control system of vehicle-carrying distribution control system.Hardware is on the basis of modeling and simulation technology in the ring test technology, with virtual controlled device the control system material object is carried out emulation testing and checking.
The present invention combines closely the control algolithm and the network communication protocol of vehicle mounted distributed network control system, from systematic analysis and concept phase, finish in the ring test stage to hardware, control requirement in the distributed network control system and network communication are required to integrate to design, test, revise and verify on the different phase different levels, the content of test and checking comprises real-time, bus load rate, control performance etc.The associated methods of control algolithm and communications protocol has specifically decomposed each stage in the exploitation overall process, proposes the control requirement of each control system and network communication requires and adopt mathematical method to carry out preliminary identification in the systematic analysis stage; Describe separately control algolithm and network communication protocol with separately realistic model respectively in each control system of modeling and simulation stage, and verify by model emulation; Further control requirement and network communication are required to carry out real-time debug and checking in the rapid prototyping design phase by the rapid prototyping test; Control algolithm after system's implementation phase is the rapid prototyping checking and control system etc. are cured in the control system in kind; In the ring test stage control requirement and network communication are required to carry out integration test and the checking of car load dcs network under the ring test environment at hardware at last.To sum up, the development﹠ testing that is always vehicle mounted distributed network control system in the development﹠ testing overall process provides a kind of distributed network emulation testing environment, thereby the control system that has guaranteed exploitation can satisfy the requirement of distributed network control, and the various potential problems of try one's best a control and communication exposed and solution in early stage.
The developer can utilize the present invention to carry out the exploitation and the test of distributed network control system under virtual environment, improves the quality and the efficient of development, also can adopt this method to build various virtual vehicle and carries out multiple research such as In-vehicle networking communications protocol.
Description of drawings
Fig. 1 vehicle mounted distributed network control system development process synoptic diagram.
Fig. 2 car load fictitious zero parts.
Fig. 3 virtual controlling system and fictitious zero parts.
The pie graph of Fig. 4 rapid prototyping system.
The vehicle mounted distributed network control system hardware-in-the-loop test environment that Fig. 5 fictitious zero parts and control system in kind constitute.
Embodiment
Further specify the present invention below in conjunction with the drawings and specific embodiments.
As shown in Figure 1, the present invention mainly comprises five big stages: systematic analysis and concept phase, modeling and simulation stage, rapid prototyping design phase, system's implementation phase and hardware are in ring test stage etc.; And four main tests and checking link arranged: the theoretical validation link of communication and control, simulating, verifying link, rapid prototyping test link and hardware are in the ring test link etc.
1, systematic analysis and concept phase.As shown in Figure 1, at first vehicle component, vehicle mounted communication network and agreement are carried out systematic analysis in this stage, the control requirement and the network communication requirement of vehicle mounted distributed network control system are proposed, carry out the primary design of vehicle control syetem then, formulate communication network and agreement, at last preliminary design result and requirement are carried out theoretical validation.The action of vehicle component, vehicle mounted communication network and agreement being carried out systematic analysis is that vehicle is divided into controlled device, and---being parts system, control system, communication network---is four parts such as topological structure and communications protocol, wherein controlled device belongs to the relevant content of control with control system, and communication network belongs to the relevant content of communication with communications protocol; Respectively vehicle component and control system, communication network and communications protocol are analyzed, proposed the control requirement and the network communication requirement of each control system.It is that the control algolithm of each control system requires and the control performance requirement that control requires, the network communication requirement be when carrying out data communication between each control system to communication network---should set up the requirement of aspects such as which kind of topological structure, communications protocol and communication real-time.Proposing the influence that control will consider when requiring that network communication brings the control effect: in full reportedly defeated time-delay, bus unusually may be influential etc. to control performance, proposing to consider the requirement of control algolithm to data transmission real-time, bus load rate and bus reliability etc. when network communication requires.According to the control requirement and the communication need of systematic analysis result and proposition, carry out the primary design of control system control algolithm and make preliminary communication network and communications protocol.At last control algolithm and communications protocol etc. is carried out theoretical validation, judge whether to satisfy requirement, in time make amendment if do not satisfy then turn back in system's primary design step, till the control requirement and communication need satisfied under the theoretical validation condition.
In the concrete operations, propose control performance according to traditional parts control system earlier and require and the control algolithm requirement, the control of adopting needs data communication can finish control function requires to list separately; Require according to control then and existing bussing technique design communication network, preliminary definite network topology structure, such as real-time and the very strict control system of safety requirements are formed a high-performance communication network, conventional power system is formed a high-speed CAN network, two communication networks are connected to form a complete communication network with a gateway; Tentatively determined after the network topology structure, control requirement according to each subnet inner control system, need data quantity transmitted and real-time requirement in the phase-split network, determine the data that each node need send and the send mode of data, such as periodicity timed sending or sudden transmission etc., and the data that need reception, thereby tentatively make communications protocol.Determined after communication network and the communications protocol, adopt mathematical computations, such as rate monotonic analytic approach etc., whether the real-time of checking network communication satisfies the control requirement, the real-time of supposing the part controlled variable requires to be not more than 5%, can calculate the real-time of this parameter in the communications protocol by mathematical methods such as rate monotonic analytic approachs, judge whether to satisfy this requirement; Whether checking bus load rate within the scope that bus itself limits, such as requiring the bus load rate to be not more than 30% under some environment, can be calculated by mathematical methods such as rate monotonic analytic approachs, judges whether the bus load rate satisfies this requirement.For convenience of explanation, communication network only contains a subnet here, and actual In-vehicle networking may contain a plurality of subnets.
2, the modeling and simulation stage.As shown in Figure 1, this stage mainly is divided into two big steps of modeling and simulation checking of vehicle, vehicle control syetem and communication network, communications protocol, specifically comprises steps such as the modeling of vehicle controlled device, vehicle control syetem modeling, communication network modeling, the checking of communications protocol modeling and simulation.Wherein modeling belongs to the relevant modeling of control to the modeling of vehicle controlled device with vehicle control syetem, and modeling belongs to the relevant modeling of communication with communications protocol in the communication network modeling, can walk abreast to carry out the relevant modeling work relevant with communication of control.Carry out the emulation testing of whole vehicle mounted distributed network control system after all modeling work is finished, simulating, verifying is carried out in communication and control.
This stage, main exploitation theed contents are as follows:
(1) vehicle controlled device modeling.As shown in Figure 2,, use modeling and simulation instrument (including but not limited to Matlab/Simulink etc.) to set up the simulation mathematical model of each parts subsystem of Vehicular system, constitute the fictitious zero component system according to systematic analysis and primary design result.Such as the principle of work of analyzing engine, select appropriate mathematic model, as mean value model etc. engine operation is described, set up the realistic model of engine, form virtual engine, the course of work that can simulated engine; Analyze the principle of work of variator, select appropriate mathematic model, as friction model and kinetic model, work is described to variator, sets up the realistic model of variator, forms virtual variator, can simulate the course of work of variator.By that analogy,, can set up dissimilar and fictitious zero parts varying number, fictitious zero parts 1 to fictitious zero parts n as shown in Figure 2 according to the needs of different automobile types.According to the relation between the parts in the actual vehicle, such as mechanical connection relation or electric connecting relation, in realistic model, use mathematical model that these annexations are described, form a kind of virtual connection, thereby whole fictitious zero parts are connected and composed the virtual vehicle system.
(2) vehicle control system modeling.As shown in Figure 3, according to the control principle of each parts control system of vehicle and the control requirement and the control algolithm of systematic analysis stage proposition, use modeling and simulation instrument (including but not limited to Matlab/Simulink etc.) to set up the simulation mathematical model of control subsystem, constitute the virtual controlling system.Such as control principle according to engine management system, select appropriate mathematic model that control procedure is described, set up the realistic model of engine management system, comprise sensor model, actuator model and control system model etc., form the virtual engine management system, control procedure that can model engine; Analyze the control principle of control system of speed variator, select appropriate mathematic model that control procedure is described, set up the realistic model of control system of speed variator, also comprise sensor model, actuator model and control system model etc., form virtual control system of speed variator.By that analogy,, can set up dissimilar and virtual controlling system varying number, be expressed as virtual controlling system 1 to the n of virtual controlling system as shown in Figure 3 according to the needs of different automobile types.Use electric signal to be connected between actual control system and the parts, with modeling language these electric signals are described here, constitute virtual electric signal: virtual connection as shown in Figure 3; Be connected by virtual electric signal between virtual controlling system and the fictitious zero component system and realize control the fictitious zero parts.
(3) communication network and communications protocol modeling.The network communication requirement that proposes according to the systematic analysis stage, the communication network of primary design and communications protocol etc., use modeling and simulation instrument (including but not limited to Matlab/Simulink etc.) to set up the simulation mathematical model of communication network and communications protocol, constitute virtual communication network.Relation between the virtual controlling system shows as network communication protocol, preliminary network topology structure and the network communication protocol of setting up in the step 1 is described with modeling language, constitute virtual CAN bus as shown in Figure 3, connect each virtual controlling system, and according to the network communication protocol swap data.
(4) simulating, verifying.The complete virtual vehicle system of the common composition of fictitious zero component system, virtual controlling system and virtual communication network.Utilize the virtual vehicle system to carry out comprehensive simulating, can carry out emulation testing to control algolithm and communications protocol, simulating, verifying as communication among Fig. 1 and control, find problem wherein and turn back to time update in the modeling and simulation stage step (1), till the control requirement and communication need satisfied under the simulated conditions.
3, the rapid prototyping design phase.As shown in Figure 1, this stage mainly comprises rapid prototyping system design and two steps of rapid prototyping test.The design of traditional control system rapid prototyping system is the control algolithm after the checking of modeling and simulation stage to be operated in the real time execution environment (as the LabVIEW RT of dSPACE or NI etc.), alternative control system in kind is controlled the vehicle component system of reality, and the benefit of making like this is can debug, revise and verify control algolithm easily before developing actual control system.As shown in Figure 4, the rapid prototyping system design here is not quite identical with classic method, for fear of the inconvenience of directly carrying out the real vehicle debugging, the fictitious zero component system is run on simulating vehicle parts system operation in the cover real time execution environment as controlled device, the virtual controlling system is run in the another set of real time execution environment, virtual vehicle parts system is controlled by interface between software and hardware.Interface between software and hardware requirement when controlling between control system and the parts according to actual vehicle, interface between software and hardware between the design two cover real time execution environment, be the virtual controlling system with the fictitious zero component system between by the real time execution environment electric signal virtual in the step 3 is connected and becomes actual electric signal and connect, signal connecting line as shown in Figure 4, interface board and communication signal wire harness, the rapid prototyping system of formation parts control system.
Constituted rapid prototyping test environment by controlled device, control system and interface between software and hardware in the above-mentioned real time execution environment based on virtual vehicle, can carry out the rapid prototyping test of control algolithm and communications protocol, control algolithm and network communication protocol are carried out debugging and verification under the real-time conditions, communication as shown in Figure 1 and the test of the rapid prototyping of control, find problem wherein and turn back to time update in the rapid prototyping design procedure, till the control requirement and communication need satisfied under the rapid prototyping environment.
4, system's implementation phase.The work in this stage is to develop actual control system and communication network.Be designed to the basis with rapid prototyping system,, carry out the hardware circuit of control system in kind and realize and software code realization, develop the control system in kind of each parts according to the control algolithm and the network communication protocol of debugging and verification in the rapid prototyping test.The communication network that adopts real CAN bus to constitute between each control system in kind connects, and the network communication protocol that moves in the virtual controlling system model then is converted into the communications protocol of moving on the real CAN bus network.
5, hardware is in the ring test stage.As shown in Figure 5,, make up distributed network hardware, each control system in kind of exploitation is carried out hardware-in-the-loop test at the ring test environment to run on virtual vehicle parts in the real time execution environment as controlled device.Each control system in kind and separately controlled device---be to adopt hardware signal to be connected between the fictitious zero parts, adopt the CAN bus network to connect between each control system in kind, the hardware net of forming a distributed network control system is at the ring test environment, can carry out the hardware-in-the-loop test of control algolithm and communications protocol, control algolithm and network communication protocol are carried out the debugging and verification of distributed network under controling environment, the communication as shown in Figure 1 and the hardware of control are in ring test, find problem wherein and turn back to system's implementation phase time update, up to satisfying hardware till the control requirement and communication need under the ring condition.
Finish after above-mentioned whole development﹠ testing step complete automobile-used distributed network control system virtual testing environment of the common formation of control system of being developed in kind and virtual vehicle parts.So far, just finish vehicle mounted distributed network control system development of the present invention.
Good effect of the present invention is mainly:
1) utilize the control system distributed network at the ring test environment, both simulated the running environment of network communication protocol, simulated the running environment of each control system again, thus can be fast, low-cost, carry out exploitation, test and the checking of automobile-used network communication protocol expeditiously.Solved carry out in traditional development scheme the vehicle mounted distributed network control system network communication protocol construction cycle long, expense is high, inefficient problem.
2) provide perfect development and testing environment for developing some sub-control system separately, can both from the angle of Full Vehicle System carry out timely debugging and verification to hardware in overall processes such as ring tests from systematic analysis, model emulation, rapid prototyping, thereby can accelerate the exploitation of control system, improve development quality, and can reduce cost of development.
Have only engine and two parts systems of variator with one below, and vehicle mounted distributed network control system engine management system and two parts control system of automatic gear shifting control system, that simplify is example, and each stage of embodiment of the present invention is illustrated.
1, systematic analysis and concept phase.
The control of engine management system requires to comprise: engine speed control: control accuracy is not more than 20r/min, and the response time is not more than 200ms; Load control: load changing rate is not more than 50%/s, and control accuracy is not more than 1% etc.
Automatic gear shifting control system control requires to comprise: gear shift control: the shift process time is not more than 2s, and the clutch coupling sliding power that rubs is not more than 0.5W, and shift impact is not more than 10m/s
3Schedule: economical schedule improves fuel economy more than 5% than manual drive mean value, and the difference of actual shifting points and theoretical shifting points is not more than 1km/h etc.
Communication network requires to comprise: the real-time error is not more than 5%, the offered load rate is not more than 30% etc.
The engine management system primary design: the load control algolithm adopts the PWM pulse-width signal that distributive value is accurately controlled, and uses PID to regulate the closed-loop control that algorithm constitutes distributive value; Rotating speed control comprises permanent rotating speed control and speed regulating control, and two closed loop control algorithms are adopted in wherein permanent rotating speed control, and as interior ring, rotating speed PID controls as outer shroud with distributive value PID control, can realize that permanent rotating speed accurately controls; Speed regulating control is controlled as the basis with permanent rotating speed, and increases the speed regulating control algorithm, such as adopting successive approximation method to carry out speed regulating control etc. for full distance speed regulating.
The communication system design comprises: communication network design and communications protocol design.Node in the promptly definite network of communication network design and the connected mode between the node etc., because system simplification is engine management system and two control system of automatic speed-changing system, then network node has only two, adopt Shielded Twisted Pair to connect, and carry out the terminal resistance design according to the requirement of CAN bus.Communications protocol design is promptly according to the control requirement of two control system, counts the signal that need carry out bus transfer and encapsulates according to certain agreement, supposes here according to CAN2.0B extended format communication data is encapsulated.Counting the parameter that engine management system need send has: the target gear of the motor torque that motor torque pattern, driver need, engine speed, accelerator pedal position, current rotating speed load number percent, accelerator pedal mandatory down position switch, the low Idle Switch of accelerator pedal, power transmission detach request, gearshift inhibition request and request etc.; These parameters are the parameter that needs periodic transfer, and wherein the motor torque and the engine speed of motor torque pattern, driver's needs need every 10ms transmission primaries, and other parameters need every 50ms transmission primaries; Above-mentioned parameter is encapsulated in three protocol data bags, and wherein the refresh cycle is that the parameter of 10ms is encapsulated in 1 packet, and the refresh cycle is that the parameter of 50ms is more, need be encapsulated in two protocol package.Counting the parameter that automatic speed-changing system need send has: the torque of transmission types, gearshift state, clutch state, output shaft rotating speed, travel of clutch, the rotating speed of forbidding forcing upshift switch, input shaft rotating speed, target gear, current shift, current shift speed ratio, overload control model right of priority, overload control model, request rotating speed state of a control, request, request or load etc.; In these parameters, transmission types, gearshift state, clutch state, output shaft rotating speed, travel of clutch, forbid forcing the refresh rate of upshift switch and input shaft rotating speed to should be 10ms, the refresh rate of target gear, current shift and current shift speed ratio is 100ms, other parameters are to need transmission parameters in the shift process, and the refresh rate when needing transmission also is 10ms; These parameters can be encapsulated as 3 protocol data bags by different refresh rate requirements like this.
Control requires to verify: owing to be a distributed network control system of simplifying here, aforesaid control algolithm and communications protocol design according to the control requirement substantially, can think tentatively that therefore the control requirement can be met.If subsystem is more in the distributed network control system, then require to adjust repeatedly possibly aspect the checking in communications protocol design and control.
The communication need checking: according to communication network and communications protocol, adopt mathematical methods such as rate monotonic analytic approach, supposing does not have bus collision, can calculate the real-time of each Communication Control parameter and the load factor of bus.
2, the modeling and simulation stage.
(1) vehicle-mounted controlled device modeling.Engine adopts mean value modelling air inlet model, fuel oil model and power output model.Variator adopts friction model to set up the joint and the mathematical model of separating of clutch coupling and synchronizer, and the mathematical model when adopting kinetic model to set up the variator operate as normal comprises gear model, synchronizer model and clutch model etc.Clutch driving plate by engine flywheel and variator between actual engine and the variator carries out mechanical connection, this mechanical connection usable power is learned model and is described, and is embodied in the engine interface and comprises: the inertial coefficient of motor torque, engine speed, engine and the ratio of damping of engine; The variator interface comprises: the inertial coefficient of transmission input shaft torque, transmission input shaft rotating speed, variator and the ratio of damping of variator.
(2) vehicle control syetem modeling.The engine management system modeling comprises sensor model, actuator model and control system model.Sensor model is divided into analog input and output model, digital I/O model, pulse signal model and pulse-width signal model etc.; Analog input and output model comprise accelerator pedal signal, intake air temperature signals, admission pressure signal, throttle opening signal etc.; Numeral I/O model comprises accelerator pedal Idle Switch signal, camshaft-position signal etc.; The pulse signal model comprises camshaft speed signal and igniting drive pulse signal; The pulse-width signal model comprises that electronic throttle drives pulse width signal and fuel injector drives pulse width signal etc.The actuator model comprises ignition coil model, electronic throttle drive motor model and fuel injector model; The ignition coil model produces ignition signal according to firing pulse and sends into engine mockup, electronic throttle drive motor model drives pulse width signal output electronic throttle aperture signal according to electronic throttle and sends into engine mockup, and the fuel injector model drives pulse width signal output distributive value signal according to fuel injector and sends into engine mockup; The control system model comprises ignition advance angle algorithm model, Electronic Throttle Control algorithm model, distributive value control algolithm model, idle speed control algorithm model, speed regulating control algorithm model etc.
The automatic transmission control system modeling comprises sensor model, actuator model and control system model.In the sensor model, analog input and output signal comprise brake pedal displacement signal, control crank signal, clutch coupling displacement signal, bit selecting displacement motor signal and shift motor displacement signal etc.; Numeral I/O signal comprises brake pedal switching signal, pole changer signal etc.; Pulse signal comprises transmission input shaft rotational speed pulse signal and transmission output speed pulse signal etc.; Pulse-width signal comprises that clutch motor drives pulse width signal, bit selecting motor-driven pulse width signal and shift motor and drives pulse width signal etc.The actuator model comprises clutch coupling drive motor model, bit selecting drive motor model and gearshift drive motor model etc., the clutch coupling drive motor drives pulsewidth output clutch displacement signal according to clutch coupling, the bit selecting drive motor is according to bit selecting motor-driven pulsewidth output bit selecting displacement motor signal, and the gearshift drive motor drives pulsewidth output shift motor displacement signal according to shift motor.The control system model comprises schedule algorithm model, shift process control algolithm model, clutch control algolithm model, bit selecting Electric Machine Control algorithm model, shift motor control algolithm model and clutch motor control algolithm model etc.
(3) communication network and communications protocol modeling.Because system simplification is engine management system and two control system of automatic speed-changing system, then the communication network model is made up of two nodal analysis methods, connects by virtual communication media (such as shared data field etc.) between the nodal analysis method and transmits data.The data that each node sends and receives are stipulated in the communications protocol model.Communications protocol modeling aspect, checking result according to systematic analysis and concept phase, the data encapsulation that engine management system need send is three packets: three parameters such as motor torque that the motor torque pattern of the every 10ms transmission primaries of needs, driver need and engine speed are encapsulated as a packet, need other parameters of every 50ms transmission primaries to be encapsulated as two packets; Equally, the data that automatic transmission control system need send also are encapsulated as three packets: wherein refresh time is two of the packets of 10ms, and refresh time is one of the packet of 100ms.The main modeling work of communications protocol model is exactly to be each packet encapsulation that each node need send single data structure, then packaged packet is sent in the communication network model; Simultaneously, also to put into related data structure to the packet that each node receives, unpack according to communications protocol then, be reduced to each controlled variable, deliver to and go in the controlling models to use.
(4) simulating, verifying.Comprise that the control under the simulated environment requires checking and communication need checking.Control requires checking: operation is by virtual engine and variator, virtual engine management system and automatic gear shifting control system in simulated environment, and the common virtual vehicle system that forms of virtual communication network, various applying working conditions are comprehensively tested, record test data is analyzed the control performance whether various control algolithms have reached regulation in the control requirement.If do not reach, then find out reason wherein: if the problem of control algolithm is then revised control algolithm; If the problem of communications protocol is then revised communications protocol, up to satisfying the performance requirement that control requires regulation.
The communication need checking: operation is by virtual engine and variator, virtual engine management system and automatic gear shifting control system in simulated environment, and the common virtual vehicle system that forms of virtual communication network, and use the software interface of bus test instrument such as CANoe etc. that the ruuning situation of virtual communication network is tested, real-time in the observation network and load factor etc. are analyzed communication network and communications protocol and whether have been reached the communication performance of stipulating in the communication need.If do not reach, then find out reason wherein and turn back to and carry out corresponding modification in the modeling procedure, up to the performance requirement that can satisfy the communication need regulation.
3, the rapid prototyping design phase.
In the real time execution environment that engine mockup that the modeling and simulation stage is set up and variator model are put into controlled device, the interface between the two is identical with the modeling and simulation stage, all is virtual mechanical connection; The two and outside interface, promptly and the interface between the rapid prototyping system of control system be hardware interface, comprising: analog input and output interface, digital input and output interface and pulse input and output interface etc.
Simulation output comprises: accelerator pedal displacement, intake air temperature, admission pressure, throttle opening, brake pedal displacement, control crank position, clutch coupling displacement, bit selecting lever displacement and gear shift operating rod displacement etc.
Analog input comprises: electronic throttle driving force, fuel injector spray oil mass, clutch coupling driving force, bit selecting motor-driven power and shift motor driving force etc.
Numeral output comprises: accelerator pedal Idle Switch, camshaft location, brake pedal switch and pole changer etc.
Pulse output comprises: engine speed pulse, transmission input shaft tacho-pulse and transmission output speed pulse etc.
The pulse input comprises: firing pulse.
Above-mentioned hardware interface comprises analog input and output board, digital input and output board and pulse input and output board etc. by the hardware interface plate of real time execution environment, carries out the hardware electric signal with the outside and is connected.
Engine management system and automatic gear shifting control system model are put into the real time execution environment of control system, and the interface in the interface between the two and modeling and simulation stage is identical, is virtual communication network interface; The two and outside interface, promptly and the interface that runs between the virtual vehicle parts system that the controlled device in the real time execution environment forms be hardware interface, this hardware interface directly links to each other with aforesaid controlled device hardware interface.
Set up the rapid prototyping test environment according to the rapid prototyping design result, carry out rapid prototyping test and design result is verified, comprise that control requires checking and communication need to verify.
Control requires checking: operation comprises the virtual vehicle mounted distributed network control system and the communication network of engine management system and automatic gear shifting control system in the rapid prototyping test environment, various applying working conditions are comprehensively tested, record test data is analyzed the control performance whether various control algolithms have reached regulation in the control requirement.If do not reach, then find out reason wherein: if the problem of control algolithm is then revised control algolithm; If the problem of communications protocol is then revised communications protocol, up to satisfying the performance requirement that control requires regulation.
The communication need checking: operation comprises the virtual vehicle mounted distributed network control system and the communication network of engine management system and automatic gear shifting control system in the rapid prototyping test environment, and use the software interface of bus test instrument such as CANoe etc. that the ruuning situation of virtual communication network is tested, real-time in the observation network and load factor etc. are analyzed communication network and communications protocol and whether have been reached the communication performance of stipulating in the communication need.If do not reach, then find out reason wherein and turn back to and carry out corresponding modification in the rapid prototyping design procedure, up to the performance requirement that can satisfy the communication need regulation.
4, system's implementation phase.
System's implementation phase need be developed actual engine management system and automatic gear shifting control system, and the communication network that connects two control system.Actual control system is made up of hardware control system circuit, control system software and hardware control system interface, and the hardware control system interface comprises connector and cable etc.
Hardware realizes being presented as the design of hardware control system circuit board, and its design considerations comes from through rapid prototyping tests the demand of the control algolithm of back acquisition to CPU: such as computing power, code size etc.; Hardware interface is to peripheral circuit requirement: as how many road analog inputs of needs, digital I/O, pulse input, pulse output and width modulation output etc.; CPU itself is to the demand of its minimum system: as power circuit, reset circuit, clock circuit etc., and network communication is to the demand of interlock circuits such as communication control module, driver module and protection module.
Software realizes being presented as the generation of software code, and the generation of control system software code at present mainly contains manual code generation and automatic code generates, and the design considerations of the two all comes from control algolithm and the network communication protocol through rapid prototyping test back acquisition; The difference of the two is that manual code generates the having relatively high expectations of programming personnel, and occurs artificial software BUG easily, and the construction cycle is also longer relatively; And the code quality that automatic code generates depends on the code Core Generator, be not easy to occur artificial software BUG, but code is longer, needs to optimize, and all needs suitable manual modification can reach effect preferably under most of situation.No matter be which kind of mode,,, then can comparatively fast finish software and realize as long as therefore meet control algolithm and communications protocol in the rapid prototyping system model because control algolithm and communications protocol have all been passed through the rapid prototyping verification experimental verification.
The hardware interface of hardware interface and rapid prototyping design phase is slightly different, needs to increase hardware interface, power interface and the power interface etc. of network communication.Wherein network communication hardware interface and communication media are finished the reception and the transmission of communication data in the communications protocol behind the rapid prototyping verification experimental verification jointly, power interface provides supply voltage for the hardware control system circuit, and power interface is a drive interface: as motor-drive circuit interface etc.All hardware interface is connected with other control system with controlled device with cable by connector.
5, hardware is in the ring test stage.
Constitute virtual vehicle parts system in the real time execution environment that engine mockup after will verifying through rapid prototyping and variator model are put into controlled device, the interface between the two is virtual mechanical connection; The two and outside interface, promptly and the interface between the control system be hardware interface, comprising: analog input and output interface, digital input and output interface and pulse input and output interface etc.
The engine management system of the reality developed and automatic speed-changing system are directly linked to each other by hardware interface with virtual vehicle parts system in running on the real time execution environment, and present embodiment virtual vehicle parts system herein only relates to engine and variator.And between engine management system and the automatic speed-changing system by the network communication medium, as twisted-pair feeder, directly link to each other, the distributed network control system hardware net of having formed engine management system and automatic gear shifting control system like this is at the ring test environment.
Under this environment the control algolithm of control system in kind and the network communication protocol between the control system in kind are being carried out debugging and verification, as the hardware of communication among Fig. 1 and control in the ring test link, find out control problem and communication problem wherein and turn back to system's implementation phase control algolithm and communications protocol are made amendment, up to satisfying distributed network hardware till the control requirement and communication need under the ring environment.
Control requires checking: move actual vehicle mounted distributed network control system and communication network at hardware in the ring test environment, various applying working conditions are comprehensively tested, record test data is analyzed the control performance whether various control algolithms have reached regulation in the control requirement.If do not reach, then find out reason wherein: if the problem of control algolithm is then revised control algolithm; If the problem of communications protocol is then revised communications protocol, up to satisfying the performance requirement that control requires regulation.
Communication need checking: in the ring test environment, move actual vehicle mounted distributed network control system and communication network at hardware, and use the hardware interface of bus test instrument such as CANoe etc. that the ruuning situation of real network is tested, real-time in the observation network and load factor etc. are analyzed communication network and communications protocol and whether have been reached the communication performance of stipulating in the communication need.If do not reach, then find out reason wherein and make amendment, up to the performance requirement that can satisfy the communication need regulation.
Claims (5)
1, a kind of development approach of vehicle mounted distributed network control system, it is characterized in that the performance history with vehicle mounted distributed network control system is divided into systematic analysis and primary design, modeling and simulation, rapid prototyping design, system realizes and hardware in five stages of ring test; All control system and communication network are carried out integration test and checking in each stage, find that as early as possible problem and time update in control and the communication solve, systematic analysis and concept phase are at first carried out systematic analysis to vehicle component, vehicle mounted communication network and agreement, the control requirement and the network communication requirement of vehicle mounted distributed network control system are proposed, carry out the primary design of vehicle control syetem then, formulate communication network and agreement, more preliminary design result and requirement are carried out theoretical validation; The modeling and simulation stage is to vehicle component, vehicle control syetem and communication network and Protocol Modeling and simulating, verifying; Carry out rapid prototyping design and rapid prototyping testing authentication in the rapid prototyping design phase; System's implementation phase is to be designed to the basis with rapid prototyping system, develops actual control system and communication network; Make up distributed network hardware at the ring test environment at hardware in the ring test stage then, the control system of being developed in kind is carried out the hardware-in-the-loop test checking.
2, the development approach of vehicle mounted distributed network control system according to claim 1, it is characterized in that described systematic analysis and in the concept phase, the content of vehicle component, vehicle mounted communication network and agreement being carried out systematic analysis is that vehicle is divided into controlled device---be the parts systems, control system, communication network---be topological structure, four parts of communications protocol, respectively vehicle component and control system, communication network and communications protocol are analyzed, proposed the control requirement and the network communication requirement of each control system; It is that the control algolithm of each control system requires and the control performance requirement that control requires, and the network communication requirement is to the requirement of communication network when carrying out data communication between each control system; Control requirement and communication need according to systematic analysis result and proposition, carry out the primary design of control algolithm and make preliminary communication network and communications protocol, and control algolithm and communications protocol carried out theoretical validation, judge whether to satisfy requirement, in time do not make amendment if do not satisfy then to turn back in system's primary design step, till the control requirement and communication need satisfied under the theoretical validation condition.
3, the development approach of vehicle mounted distributed network control system according to claim 1 is characterized in that described main exploitation of modeling and simulation stage thes contents are as follows:
(1) according to systematic analysis and primary design result, use the modeling and simulation instrument to set up the simulation mathematical model of each parts subsystem of Vehicular system, constitute the fictitious zero component system;
(2) according to the control principle of each parts control system of vehicle and the control requirement and the control algolithm of systematic analysis and concept phase proposition, use the modeling and simulation instrument to set up the simulation mathematical model of each parts control system, constitute the virtual controlling system;
(3) according to network communication requirement, communication network and the communications protocol of systematic analysis and concept phase proposition, use the modeling and simulation instrument to set up the simulation mathematical model of communication network and communications protocol, constitute virtual communication network;
(4) the complete virtual vehicle system of the common composition of fictitious zero component system, virtual controlling system and virtual communication network, and carry out comprehensive simulating, control algolithm and communications protocol are carried out emulation testing, time update in the step (1) of then returning the modeling and simulation stage if pinpoint the problems is till the control requirement and communication need satisfied under the simulated conditions.
4, the development approach of vehicle mounted distributed network control system according to claim 1, it is characterized in that at described rapid prototyping in the design phase, the fictitious zero component system is run on simulating vehicle parts system operation in the cover real time execution environment as controlled device, the virtual controlling system is run in the another set of real time execution environment; Interface between software and hardware requirement when controlling between control system and the parts according to actual vehicle, interface between software and hardware between the design two cover real time execution environment, be the virtual controlling system with the fictitious zero component system between by the real time execution environment virtual electric signal is connected and is transformed into actual electric signal and connects, constitute the rapid prototyping system of parts control system.
5, the development approach of vehicle mounted distributed network control system according to claim 1, it is characterized in that described be to run on virtual vehicle parts system in the real time execution environment at hardware in the ring test stage as controlled device, make up distributed network hardware jointly at the ring test environment with the control system and the communication network of reality, the running environment of analog network communications protocol and the running environment of control system are carried out hardware-in-the-loop test to the control system in kind of exploitation; Each control system in kind and separately controlled device---be to adopt hardware signal to be connected between the fictitious zero component system, adopt the CAN bus network to connect between each control system in kind, the hardware net of a distributed network control system of composition is at the ring test environment.
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| US8612192B2 (en) * | 2010-05-24 | 2013-12-17 | GM Global Technology Operations LLC | Vehicle simulation system with software-in-the-loop bypass control |
| CN103854083B (en) * | 2012-11-29 | 2018-06-26 | 比亚迪股份有限公司 | New Energy Industry supporting item design method |
| CN104536434A (en) * | 2014-12-15 | 2015-04-22 | 华晨汽车集团控股有限公司 | Vehicle network bus simulation and testing method |
| CN106055351A (en) * | 2016-05-20 | 2016-10-26 | 北京经纬恒润科技有限公司 | Development method and apparatus of control system |
| CN106406278B (en) * | 2016-09-27 | 2019-04-30 | 株洲中车时代电气股份有限公司 | The combined test system of rail traffic vehicles control equipment based on MVB bus |
| CN108009092B (en) * | 2017-12-04 | 2021-03-09 | 武汉保华显示科技有限公司 | Design method of vehicle-mounted network management general test case protocol |
| US11200128B2 (en) * | 2018-08-28 | 2021-12-14 | Nxp B.V. | Network interface device and method for operating a network interface device |
| CN110597237B (en) * | 2019-10-12 | 2020-10-23 | 北京北方华德尼奥普兰客车股份有限公司 | Simulation method of RCP (remote control protocol) system of whole vehicle controller of extended range electric vehicle |
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