CN102279736B - D2P-based RMS motor controller development system - Google Patents
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Abstract
A D2P-based RMS motor controller development system comprises a master device which is used to create a real-time operating environment for the operation of a target device and load a target file generated after simulation verification to the target device for being implemented, and the target device outputs a control signal to control the operation of actuating equipment. By adopting the D2P-based RMS motor controller development system, the technical bottleneck of the traditional motion controller development can be successfully overcome in the development process, the threshold of the software and hardware development can be reduced, the system development cycle can be shortened, the development cost can be reduced, the job requirement of programmers can be simplified and the development efficiency can be improved.
Description
Technical field
The present invention relates to electric machine controller development technique field, specifically, is a kind of RMS electric machine controller development system based on D2P.
Background technology
Under the vigorously supporting of national policy, new-energy automobile is flourish in China, has obtained important breakthrough.As a very large feature of new-energy automobile application, be the integrated of electric system, and its middle controller-power electronics assembly is the parts of most critical.Power electronics assembly comprises power device, driving, control, sensor, power supply etc., by problems such as the combination between the circuit of solution different process and high-voltage isolatings, reach higher integrated level, can more effectively reduce volume and weight, the companies such as external Continental AG, Bosch have small serial production ability.Domestic manufacturers' ground zero, also exists distribution parameter, electromagnetic compatibility, heat transfer etc. to have more highly difficult technical matters, and still can not effectively reduce costs, and reaches higher reliability.
Traditional controller design implementation method, need many-sided researchists' such as control algorithm design, Software for Design, hardware design participation to complete, in traditional performance history, the various aspects of design all need to have professional PHP and hardware engineer have for exploitation, then debugging jointly, make to control calculation method can well apply with hardware in, only have this links to coordinate closely, form an optimum system, just deserve to be called the exploitation of successful controller.
Yet in actual controller performance history, the design of control system algorithm is all manually to write compilation or C language or C++ code in the development environment of corresponding microprocessor mostly, such process development cycle is long, to having relatively high expectations of programmer.And most of programmers are only familiar with certain language, adaptability is very poor, and the exploitation of will interosculating in large-scale development project just there will be obvious limitation.Due to different programmers programme custom difference, the code difference that the people that same system is different writes out with same language is very large, will make like this its readability very poor, even concerning programmer oneself, program for some complicated a little point, the program of self writing oneself is read all gruelling after a period of time, especially all the more so to assembly language.This becomes tediously long numerous and diverse by the performance history that makes whole controller, and from project benefit, construction cycle length just means that cost increases.
Therefore, how to shorten the construction cycle, reduce exploitation complexity and cost of development, become automobile controller manufacturer and user's joint demand and target.
Summary of the invention
Technical matters to be solved by this invention is to overcome the deficiencies in the prior art, and an electric machine controller development system easy to use, to shorten the construction cycle is provided.
This technical scheme realizes by a kind of RMS electric machine controller development system based on D2P, and wherein D2P (Development To Production) is the one-stop development process from " generation → hardware debug → product approval of algorithm design → model buildings → code ".The RMSShi U.S. specializes in the producer of the electric machine controller solution that provides perfect, and the PM100DX adopting in this electric machine controller development system is exactly the product of the said firm.PM100DX is a electric machine controller designing for electric automobile, hybrid vehicle and Industry Control specially, this electric machine controller adopts high hot-fluid enhance heat design, apparent size and weight reduce greatly, and power plot ratio is greater than 18kW/L and has extended the serviceable life in rugged surroundings.
RMS electric machine controller development system based on D2P, includes:
Main equipment, for creating the true-time operation environment for target device operation, in the MATAL/Sinulink of main equipment development environment, create the control system task scheduling engineering based on model, in this control system task scheduling engineering, comprise the systems engineering of one or more subtasks, in each subtask having under its command in system, according to user's the needs of designing and developing, load needed module in Drive Link model bank, set up oneself motor control strategy and auxiliary control strategy; After strategy Development completes, under MATLAB/Simulink environment, carry out system emulation, the characteristic of verification model, and the wave simulation figure of input, output signal is shown; After the emulation that is over, checking, double-click Build module, generate the automatic code of the Electric Machine Control model creating, and operate by the man-machine interface of Drive Soft software, automatic code is generated, compiles, connected, final generating object file * .out file; Start DriveSoft interface software, in Compile command bar, import file destination * .out, click Compile button, file is converted to * .hex file layout, afterwards, connect the RS232 interface of main equipment and the serial line interface of target device, click Download button, file destination is downloaded to target device;
Target device, is PM100 electric machine controller, receives the file destination of autonomous device, carry out after power-off restarting operation, and the file destination that run user is designed and developed, and output a control signal to actuating equipment, control the operation of actuating equipment;
Actuating equipment, operates accordingly according to the control signal of target device output.Described Drive Link model bank comprises:
Digital input module, for realizing the collection of 6 external digital signal inputs that PM100 electric machine controller is provided;
Numeral output module, for realizing the control of 4 external digital signal outputs that PM100 electric machine controller is provided;
Trigger module, by Task submodule and Task System submodule, formed, the wherein Task submodule setting of schedule time list of finishing the work, the task scheduling time that Task System submodule is set in response to Task submodule, client can develop independently task subsystem in corresponding timetable;
Analog input module, for collection of simulant signal, wherein signal comprises: motor A, B, the collection of C three-phase current, motor A, B, C three-phase temperature acquisition, control panel temperature acquisition, drive plate temperature acquisition, RT1～RTD5 five road external temperatures gather, DC voltage is monitored and external sensor voltage detecting;
PWM control module, by motor control module, Encoder orthogonal coding module, three-phase PWM control module, SAT module and OC module composition, motor control module wherein, for driving control to motor; Encoder orthogonal coding module, for detection of motor position and motor speed; Three-phase PWM control module, enables, arranges cycle and dutycycle and carry out dead band control for controlling; SAT module, monitors for failure alarm signal; OC module, monitors for failure alarm signal;
CAN module, comprising the transmission of CAN data, receiver module, supports CAN2.0B communications protocol;
Demarcating module, for passing through the demarcation of RS232 Interface realization to PM100 electric machine controller supplemental characteristic;
PM100 hardware module, for the hardware resource of module is set, comprises that clock frequency, Memory arrange, Section specifies and the setting of peripheral hardware resource;
Reseting module, the fault for occurring in the middle of the Build process that resets, can re-start the hot-tempered work of Build after reset;
Build module, automatic compiling, the connection of for realizing, building model, generate Downloadable file destination;
User can control software by demarcation the work in every characteristic of described electric machine controller is demarcated, adjusted.
After having adopted said system, there are following these advantages:
1) by Product-level, develop ECU, can make performance history more simply, quicker;
2) the patterned development environment of Matlab/Simulink/RTW, is convenient to proof of algorithm and transplanting;
3) system overall situation monitoring, controls software and reaches optimization, and automatic code generates;
4) be convenient to development teams and exchange design concept, the algorithm evaluation based on model is more directly perceived;
5) software modularity exploitation, reduces the requirement of developer's level of hardware;
6) functional module interface is widely used in automotive grade hardware, and open operating system upgrading fast;
7) development platform is set up fast, and cost is lower;
8) RMS hardware mature and reliable.
Accompanying drawing explanation
Fig. 1 is the development process figure of development system of the present invention.
Fig. 2 is the Drive Soft software man-machine interface view in development system of the present invention.
Fig. 3 is the system task scheduling graph using in development system of the present invention.
Fig. 4 a～4c is 3 kinds of control strategy model schematic diagram that use in development system of the present invention.
Fig. 5 is model emulation, the result figure in development system of the present invention.
Embodiment
For making the object, technical solutions and advantages of the present invention clearer, paper is the working environment of this electric machine controller development system once.
In order to facilitate client under Matlab/Simulink environment, carry out simulating developer and the realization of RMS electric machine controller PM100 Electric Machine Control algorithm, the high Divine Land (Beijing) of meaning associating RMS company of Science and Technology Ltd., in conjunction with the hardware resource of PM100 electric machine controller, has developed Drive Soft developing instrument.Drive Soft is a collection code compilation, and code is downloaded, data scaling, the application software that the functions such as configuration Simulink model development storehouse (Drive Link) are integrated.
The development process figure of development system as shown in Figure 1.Client can pass through the development environment based on model, in conjunction with autonomous Electric Machine Control algorithm, realize " conceptual design analysis--control strategy exploitation--off-line simulation test--matching and calibration is tested in automatic code generation--HIL hardware is encircling--" one-stop D2P (Development To Production) development process, greatly shorten construction cycle of product.
Fig. 2 shows the man-machine interface view of Drive Soft software.In the Compile of this interface kind command bar, can import the file destination * .out of generation, after clicking Compile button, this file destination will be converted into the file of * .hex form, connect the RS232 interface of computer and the serial line interface of electric machine controller, click Download button, the file destination of the * .hex form of generation is downloaded to electric machine controller.
After operation Drive Soft software, to automatically generate and load Drive Link model bank, PM100 hardware platform based on U.S. RMS company and the modeled software development environment of Matlab/Simulink of the exploitation of Drive Link Shi Youyiang EON company, offer Developmental Engineer's bottom software encapsulation (UO interface, communication interface, internal storage location interface etc.), for autonomous Electric Machine Control algorithm development engineering.
Drive Link model bank comprises:
Digital input module, for realizing the collection of 6 external digital signal inputs that PM100 electric machine controller is provided;
Numeral output module, for realizing the control of 4 external digital signal outputs that PM100 electric machine controller is provided;
Trigger module, by Task submodule and Task System submodule, formed, the wherein Task submodule setting of schedule time list of finishing the work, the task scheduling time that Task System submodule is set in response to Task submodule, client can develop independently task subsystem in corresponding timetable;
Analog input module, for collection of simulant signal, wherein signal comprises: motor A, B, the collection of C three-phase current, motor A, B, C three-phase temperature acquisition, control panel temperature acquisition, drive plate temperature acquisition, RT1～RTD5 five road external temperatures gather, DC voltage is monitored and external sensor (1.5V, 2.5V, 5V) voltage detecting;
PWM control module, by motor control module, Encoder orthogonal coding module, three-phase PWM control module, SAT (desaturation) module and OC (over-current) module composition, motor control module wherein, for driving control to motor; Encoder orthogonal coding module, for detection of motor position and motor speed; Three-phase PWM control module, enables, arranges cycle and dutycycle and carry out dead band control for controlling; SAT module, monitors for failure alarm signal; OC module, monitors for failure alarm signal;
CAN module, comprising the transmission of CAN data, receiver module, supports CAN2.0B communications protocol;
Demarcating module, for passing through the demarcation of RS232 Interface realization to PM100 electric machine controller supplemental characteristic;
PM100 hardware module, for the hardware resource of module is set, comprises that clock frequency, Memow arrange, Section specifies and the setting of peripheral hardware resource;
Reseting module, for the fault occurring in the middle of the Build process that resets, can re-start Build operation after reset;
Build module, automatic compiling, the connection of for realizing, building model, generate Downloadable file destination.
For the more concrete performance history of introducing electric machine controller development system, below the developing example by magneto (PMSM) control system is also described in further detail by reference to the accompanying drawings.
1) as shown in Figure 3, under MATLAB/Simulink environment, create magneto (PMSM) the control system task scheduling engineering based on model, in this task scheduling engineering, comprise 8 subtasks as can be seen from the figure;
2) in each subtask having under its command in system, according to user's the needs of designing and developing, load needed module in Drive Link model bank, set up oneself motor control strategy and auxiliary control strategy; As shown in Figure 4, the module loading is respectively the control strategy model of subtask 1, subtask 4, subtask 7, and wherein subtask 1 is that peripheral port control strategy, subtask 4 are that PMSM motor control strategy, subtask 7 are data scaling, storage control strategy;
3) after strategy Development completes, under MATLAB/Simulink environment, carry out system emulation, the characteristic of verification model, is the wave simulation figure of input, output signal shown in Fig. 5;
4) after the emulation that is over, checking, double-click Build module, generate the automatic code of the Electric Machine Control model creating, and operate by the man-machine interface of Drive Soft software, automatic code is generated, compiles, connected, final generating object file * .out file.
5) start DriveSoft interface software, in Compile command bar, import file destination * .out.Click Compile button, file is converted to * .hex file layout, afterwards, connect the RS232 interface of computer and the serial line interface of electric machine controller, click Download button, file destination is downloaded to electric machine controller;
6) power-off restarting, the Electric Machine Control algorithm policy that user designs and develops just can move on electric machine controller, user can control software as CANoe, ATIVisoon etc. by special demarcation, and the work in every characteristic of electric machine controller is demarcated, adjusted.
In sum, the exploitation of carrying out electric machine controller by this system has following these advantages:
Stable hardware platform;
Avoid the exploitation of Developmental Engineer's bottom software and the work of testing, be absorbed in control algolithm and realize and optimum control;
The patterned development environment of Matlab/Simulink/RTW, improves team development efficiency, is convenient to proof of algorithm and transplanting;
Be convenient to development teams and exchange design concept, the algorithm evaluation based on model is more directly perceived;
The monitoring of the system overall situation, supports control algolithm in-circuit emulation and software to test at loop (SiL-Sofiware in the Loop);
Support engineer develops advanced Electric Machine Control algorithm, controls software and reaches optimization;
Support State-Flow, S-Function;
Controlling and demarcate interface document can generate automatically, meets international V-shape development process.
The foregoing is only the preferred embodiments of the present invention, be not limited to the present invention, for this area, arrest technician, the present invention can have various modifications and variations.Within the spirit and principles in the present invention all, any modification of doing, be equal to replacement, improvement etc., within all should being included in protection scope of the present invention.
Claims (1)
1. the RMS electric machine controller development system based on D2P, is characterized in that this system comprises:
Main equipment, for creating the true-time operation environment for target device operation, in the MATLAB/Simulink of main equipment development environment, create the control system task scheduling engineering based on model, in this control system task scheduling engineering, comprise the systems engineering of one or more subtasks, in each subtask having under its command in system, according to user's the needs of designing and developing, load needed module in Drive Link model bank, set up oneself motor control strategy and auxiliary control strategy; After strategy Development completes, under MATLAB/Simulink environment, carry out system emulation, the characteristic of verification model; After the emulation that is over, checking, the Build module of operation main equipment, generates the automatic code of the Electric Machine Control model create, and the man-machine interface of the Drive Soft software by main equipment operates, automatic code is generated, compiles, connected, final generating object file * .out file; Start the Drive Soft software of main equipment, in Compile command bar, import file destination * .out, by Compile button, file is converted to * .hex file layout, afterwards, connect RS 232 interfaces of main equipment and the serial line interface of target device, by Download button, file destination is downloaded to target device;
Wherein, described Drive Link model bank comprises: digital input module, for realizing the collection of 6 external digital signal inputs that PM100 electric machine controller is provided; Numeral output module, for realizing the control of 4 external digital signal outputs that PM100 electric machine controller is provided; Trigger module, by Task submodule and Task System submodule, formed, the wherein Task submodule setting of schedule time list of finishing the work, the task scheduling time that Task System submodule is set in response to Task submodule, client can develop independently task subsystem in corresponding timetable; Analog input module, for collection of simulant signal, wherein signal comprises: motor A, B, C three-phase current signal, motor A, B, C three-phase temperature signal, control panel temperature signal, drive plate temperature signal, RT1～RTD5 five road external temperature signals, DC voltage monitor signal and external sensor voltage detection signal; PWM control module, by motor control module, Encoder orthogonal coding module, three-phase PWM control module, SAT module and OC module composition, motor control module wherein, for driving control to motor; Encoder orthogonal coding module, for detection of motor position and motor speed; Three-phase PWM control module, enables, arranges cycle and dutycycle and carry out dead band control for controlling; SAT module, monitors for failure alarm signal; OC module, monitors for failure alarm signal; CAN module, comprising the transmission of CAN data, receiver module, supports CAN2.0B communications protocol; Demarcating module, for passing through the demarcation of RS232 Interface realization to PM100 electric machine controller supplemental characteristic; PM100 hardware module, for the hardware resource of module is set, comprises that clock frequency, Memory arrange, Section specifies and the setting of peripheral hardware resource; Reseting module, for the fault occurring in the middle of the Build process that resets, can re-start Build operation after reset; Build module, automatic compiling, the connection of for realizing, building model, generate Downloadable file destination;
Target device, is PM100 electric machine controller, receives the file destination of autonomous device, carry out after power-off restarting operation, and the file destination that run user is designed and developed, and output a control signal to actuating equipment, control the operation of actuating equipment;
Actuating equipment, operates accordingly according to the control signal of target device output.
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| CN103235518B (en) * | 2013-04-19 | 2016-04-27 | 中国科学院光电技术研究所 | A kind of test method to photoelectric tracking systems stabilisation and platform |
| CN103279124B (en) * | 2013-05-24 | 2015-04-08 | 电子科技大学 | Experiment system oriented to development of motor controller of electric vehicle |
| CN104765616B (en) * | 2015-04-29 | 2018-04-20 | 北京经纬恒润科技有限公司 | A kind of method and system for automatically generating I/O model |
| CN110751873B (en) * | 2019-11-15 | 2021-10-26 | 郑州意昂新能源汽车科技有限公司 | Method for interconnecting whole vehicle electric control practical training platform of new energy automobile and actual vehicle |
| CN111123764A (en) * | 2019-12-04 | 2020-05-08 | 东风电驱动系统有限公司 | CAN signal packaging processing method and system |
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| CN101706648A (en) * | 2009-01-13 | 2010-05-12 | 华东理工大学 | Design method of motion controller based on RCP and DSP |
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| US20050066305A1 (en) * | 2003-09-22 | 2005-03-24 | Lisanke Robert John | Method and machine for efficient simulation of digital hardware within a software development environment |
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| US5933641A (en) * | 1997-03-24 | 1999-08-03 | Tritech Microelectronics International, Ltd. | Numeric intensive real-time software development system |
| CN101706648A (en) * | 2009-01-13 | 2010-05-12 | 华东理工大学 | Design method of motion controller based on RCP and DSP |
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