CN103186101A - Hardware-in-loop simulation test system of vehicle control unit - Google Patents
Hardware-in-loop simulation test system of vehicle control unit Download PDFInfo
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Abstract
The invention relates to a simulation technology, in particular to a simulation test technology of a vehicle controller, and provides a hardware-in-loop simulation test system of the vehicle controller, which is used for improving the test efficiency of the vehicle controller. The hardware-in-loop simulation test system of the vehicle control unit provided by the embodiment of the invention comprises the following steps: the simulation device is respectively connected with the simulation operation device, the whole vehicle controller to be subjected to simulation test and the simulation monitoring device, and the operation monitoring device is connected with the whole vehicle controller to be subjected to simulation test, so that the real-time performance is realized, the characteristic of the simulation test process can be observed at any time, and the hardware-in-loop simulation test efficiency of the whole vehicle controller is improved.
Description
Technical field
The present invention relates to emulation technology, particularly a kind of emulation testing technology of entire car controller.
Background technology
Engineering machinery is the general designation of the required necessary mechanized equipment of comprehensive mechanized construction engineering of a cubic meter construction work, road surface construction and maintenance, flow-type lifting loading and unloading operation and various construction work.Be mainly used in national defense construction engineering, communications and transportation construction, fields such as material industry construction such as energy industry construction and production, mine and production, agriculture, forestry, water conservancy construction, industry and covil construction, urban construction, environmental protection.
Engineering machinery needs very high security, but along with economic development to engineering machinery demand and multifarious increase, the production of engineering machinery needs again to shorten product development and construction cycle, so how product is carried out efficient and safe detection, become a problem in the engineering machinery production.
Computer simulation technique has just produced under this driving that presses for, and a lot of aspects of engineering machinery have all obtained application abroad.All successfully used emulation technology as many-sides such as dynamics simulation, engine design, excavation power predictions.
The present application people finds, the emulation test system of existing entire car controller does not adopt real time operating system, can't reach real real-time simulation test, and can only observe instrument and parameter variation in test, test process is directly perceived, vivid inadequately, so testing efficiency is lower.
Summary of the invention
The invention provides a kind of hardware-in-the-loop test system of entire car controller, in order to improve the testing efficiency of entire car controller.
The hardware-in-the-loop test system of the entire car controller that the embodiment of the invention provides comprises:
Simulated operation equipment, emulator, operation monitoring equipment and emulation monitoring equipment, described emulator connects entire car controller and the emulation monitoring equipment of simulation operating equipment, simulated test respectively, described operation monitoring equipment connects the entire car controller of simulated test, wherein:
Described simulated operation equipment, the vehicle simulation operation of response user in the process of emulation testing entire car controller obtains the emulation testing model input parameter of vehicle and sends to emulator;
Described emulator, be used for according to the control in the emulation testing process of emulation testing model input parameter and entire car controller, utilize the emulation testing model of simulating vehicle hardware device operation to obtain vehicle emulation testing running state parameter, the emulation testing running state parameter is exported to the emulation monitoring equipment, and the emulation testing running state parameter is converted to the control signal that drives vehicle operating, and control signal is exported to entire car controller;
Described operation monitoring equipment receives and shows the travel condition of vehicle indicator signal of exporting in the entire car controller emulation testing process of described simulated test;
Described emulation monitoring equipment according to the vehicle emulation testing running state parameter that emulator takes place, is showed simulation run process and the state of vehicle based on the virtual reality scenario model of three-dimensional.
Further, described simulated operation equipment, the test environment parameter that also is used for the user is imported in emulation testing entire car controller process sends to emulator as emulation testing model input parameter.
Wherein, described emulation testing model comprises at least: motor submodel, chassis electric signal submodel, battery submodel, vehicle movement scholar model and kinematic train submodel.
Wherein, described kinematic train submodel is set up according to following formula:
Wherein, F
tThe expression driving force, F
WThe expression air resistance, F
fThe expression resistance to rolling, F
iThe expression grade resistance, F
jThe expression acceleration resistance.
Described driving force F
tCalculate according to following formula:
Wherein: F
tBe driving force, unit is newton N; T
MFor driving force is F
tThe time motor torque, unit is ox. rice NIm; R
rBe vehicle wheel roll radius, unit is rice m; i
gBe transmission gear ratio; i
0Be the main reducing gear speed ratio; η
TBe transmission efficiency; In the above-mentioned parameter, R
r, i
g, i
0, η
TBe the vehicle design parameter, can determine T according to the application vehicle of entire car controller in advance
MBe the value of feedback of entire car controller after determining according to control signal and steering logic.
Described air resistance F
WCalculate according to following formula:
Wherein: F
WBe air resistance, unit is N; C
DBe coefficient of air resistance, unit is NIs
2/ m
4, A is front face area, unit is a square metre m
2u
aSpeed when moving for simulative automobile, unit is km/hour (km/h); In the above-mentioned parameter, C
DRelevant with the design shape of vehicle, determine that according to vehicle shape A obtains according to the vehicle body design calculation of parameter, u
aBe basis
The calculated value that obtains.
Described resistance to rolling F
fCalculate according to following formula:
Wherein: F
fBe resistance to rolling, unit is N; F is the rolling resistance of wheel coefficient, selects corresponding empirical value according to different test environments; G is the Automobile Body Design general assembly (TW), and unit is N, determines according to the Automobile Design parameter.
Described grade resistance F
iCalculate according to following formula:
Wherein, F
iBe grade resistance, unit is N;
Be automobile and horizontal road angle of slope, unit is degree π;
Be the vehicle operating environmental parameter, select corresponding angle value according to different test environments; Perhaps
Described acceleration resistance F
jCalculate according to following formula:
Wherein: F
jBe acceleration resistance, unit is N; Be correction coefficient of rotating mass,
Be car mass, unit is kg;
Acceleration during for vehicle operating.
The embodiment of the invention has been set up the emulation testing model of simulating vehicle hardware device operation, with the three-dimension virtual reality model of place of showing travel condition of vehicle, in the emulation testing process, the user is by simulated operation platform simulation vehicle drive, entire car controller is converted into the required input parameter of emulation testing model with the operation in the simulating driving procedure that receives, be input in the emulation testing model, utilize the running status of emulation testing modeling vehicle, obtain the running state parameter of vehicle, running state parameter according to vehicle, utilize three-dimensional virtual reality scenario model to show simulation run process and the state of vehicle, utilize the travel condition of vehicle indicator signal that operation monitoring equipment receives in real time and the display monitoring entire car controller is exported in carrying out the control signal process, thereby realized the hardware-in-the-loop test to entire car controller, because have real-time and monitoring property, thereby improved the efficient of emulation testing.
Description of drawings
The hardware-in-the-loop test system architecture synoptic diagram of the entire car controller that Fig. 1 provides for the embodiment of the invention;
A kind of emulation testing model framework synoptic diagram that Fig. 2 provides for the embodiment of the invention.
Embodiment
The embodiment of the invention is for efficient in the hardware-in-the-loop test that improves entire car controller, a kind of entire car controller hardware-in-the-loop test system that has real-time and can observe the emulation testing process at any time is provided, for this reason, set up the emulation testing model of simulating vehicle hardware device operation, with the three-dimension virtual reality model of place of showing travel condition of vehicle, in the emulation testing process, the user is by simulated operation platform simulation vehicle drive, entire car controller is converted into the required input parameter of emulation testing model with the operation in the simulating driving procedure that receives, be input in the emulation testing model, utilize the running status of emulation testing modeling vehicle, obtain the running state parameter of vehicle, according to the running state parameter of vehicle, utilize three-dimensional virtual reality scenario model to show simulation run process and the state of vehicle.And export to entire car controller after the emulation testing running state parameter is converted to the control signal that drives vehicle operating, entire car controller is carried out the control signal that receives according to receiving steering logic control signal and that prestore, and the control signal in the operational process sent it back the emulation testing model, the emulation testing model utilizes the control signal of entire car controller to adjust the running state parameter of control signal and vehicle, realize closed-loop control, in the emulation testing process of entire car controller, the travel condition of vehicle indicator signal that operation monitoring equipment receives in real time and the display monitoring entire car controller is exported in carrying out the control signal process, thus realized hardware-in-the-loop test to entire car controller.
In said process, the emulation testing model is set up according to the actual motion state of vehicle hardware equipment, reaches the purpose of utilizing software simulation hardware.In test process, the simulated operation platform is actually the operating platform of vehicle, each hardware device of vehicle control unit controls is by the emulation testing modeling, and operation monitoring equipment is equivalent to the display screen of vehicle, can show the status signal in the vehicle operating process in real time.And utilize three-dimensional three-dimension virtual reality model of place, running status and the ambient condition of dynamic demonstration vehicle that can be real-time.
Based on above-mentioned principle, the hardware-in-the-loop test system of the entire car controller that the embodiment of the invention provides, as shown in Figure 1, simulated operation equipment 101, emulator 102, operation monitoring equipment 103 and emulation monitoring equipment 104, emulator 102 connects entire car controller and the emulation monitoring equipment 104 of simulation operating equipment 101, simulated test respectively, operation monitoring equipment 103 connects the entire car controller of simulated test, wherein:
Simulated operation equipment 101, the vehicle simulation operation of response user in the process of emulation testing entire car controller obtains the emulation testing model input parameter of vehicle and sends to emulator 102;
In the embodiment shown in fig. 1, utilize 3-D technology at emulation monitoring equipment 104, three-dimensional demonstration operational process and some condition indicative signals of vehicle, the simulated operation personnel can real-time monitored to the virtual operation state of vehicle, the for example transport condition of vehicle, and fault-signal etc.Simultaneously, operation monitoring equipment 103 receives and shows the travel condition of vehicle indicator signal of entire car controller output in real time, the travel condition of vehicle indicator signal of entire car controller output is the travel condition of vehicle indicator signal that export when vehicle is actual to be driven, for example: SOC value of battery, cell voltage current value, motor mode, motor speed moment of torsion, chassis and failure alarm signal etc., these condition indicative signals are usually displayed on the display interface in the vehicle cab.
For realizing the emulation testing under the varying environment, when setting up the emulation testing model, can also introduce environmental parameter and participate in computing, at this moment, simulated operation equipment 101, can also receive the test environment parameter that the user imports in the process of emulation testing entire car controller, and test environment parameter is sent to emulator 102 as the model input parameter.
The control signal that inputs to entire car controller is relevant with the target test item, the target test item is the foundation that designs a model, in general, can itemize for the test of entire car controller and to carry out, under different test events, the control signal of exporting to entire car controller generally comprises two types of IO signal and CAN bus signals, it also may be wherein one type, so the emulator 101 general IO signal wires that pass through are connected entire car controller with the CAN bus, operation monitoring equipment 103 is general by CAN buses connection entire car controllers.Adopt optical fiber or ethernet line to connect between emulator 102 and the emulation monitoring equipment 104.
From top explanation as can be seen, in the hardware-in-the-loop test scheme of the entire car controller that the embodiment of the invention provides, the test run of vehicle all by emulator 102 based on the realistic model analog computation, and can simulating vehicle in the operation of various running environments, with the steering logic of test entire car controller in different running environments, adopt 3-D technology real-time exhibition travel condition of vehicle, and the output parameter of entire car controller, improve the accuracy of emulation testing and the efficiency of research and development of entire car controller, reduced the testing cost of entire car controller.Show test results in real time and comprise: motor, battery, chassis and failure alarm signal state, and the running car road conditions, the transport condition that utilize virtual reality scenario to show, simulates real are carried out and are sailed environment.
The emulation testing model can be set up according to different emulation testing purposes, for example shown in Figure 2, for realizing comparatively comprehensively emulation testing of entire car controller, a kind of emulation testing model framework that the embodiment of the invention provides mainly comprises: the motor submodel, chassis electric signal submodel, the battery submodel, vehicle movement scholar model and kinematic train submodel, further for realizing the emulation testing under the different true environments, the kinematic train submodel needs environmental parameter to participate in computing, for this reason, can increase the environmental parameter load module at simulated operation equipment 101, be the required environmental parameter of kinematic train submodel input.Wherein: the parameter of exporting to entire car controller of motor submodel and battery submodel is the CAN bus signals, the parameter that chassis electric signal submodel is exported to entire car controller is the IO signal, for example: turn signal, gear signal, brake signal, throttle signal, ignition signal, and carry out failure alarm signal that fault test is etc.
With a preferred embodiment, provide the design concept of each submodel below.
1, motor submodel: the motor submodel serves as that the basis is set up with external characteristic curve and the powertrace of motor, concrete submodel can adopt the function calculation mode, perhaps discrete value lookup table mode, when rotating speed of motor and torque are determined, by the working point of function calculation or the acquisition motor of tabling look-up, and utilize CAN bus communication agreement and the mutual Electric Machine Control parameter of entire car controller and battery operation state parameter;
2, chassis electric signal submodel: chassis electric signal submodel is set up according to the chassis electric requirement, the chassis electric signal generally comprises turn signal, gear signal, brake signal, throttle signal, ignition signal and the failure alarm signal etc. on chassis, utilizes IO signal wire and entire car controller to realize communicating by letter;
3, battery submodel: the battery submodel serves as that the basis is set up with the battery charging and discharging characteristic curve of actual tests gained, can obtain the working point of battery under different-energy consumes, and the control etc. that whether needs to charge.Concrete submodel can adopt the function calculation mode, and perhaps the discrete value lookup table mode by the working point of function calculation or definite battery of tabling look-up, and utilizes CAN bus communication agreement and the mutual battery control parameter of entire car controller and battery operation state parameter;
4, vehicle movement scholar model: vehicle movement scholar model mainly obtains the simulation run parameter based on the input of virtual reality scenario submodel, generally comprises the speed of a motor vehicle and gear signal;
5, kinematic train submodel: the kinematic train submodel is set up according to automobile dynamics is theoretical, needs the speed of a motor vehicle and gear parameter, transmission parameters, wheel parameter and vehicle body parameter etc. to participate in calculating.
During according to automobile dynamics theory motor racing, the driving force sum equals the principle of resistance sum, sets up the kinematic train submodel based on following formula 1:
Wherein, F
tThe expression driving force, F
WThe expression air resistance, F
fThe expression resistance to rolling, F
iThe expression grade resistance, F
jThe expression acceleration resistance.
Concrete:
Driving force is calculated according to following formula 2:
In the formula 2: F
tBe driving force, unit is newton (N); T
MFor driving force is F
tThe time motor torque, unit is ox. rice (NIm); R
rBe vehicle wheel roll radius, unit is rice (m); i
gBe transmission gear ratio; i
0Be the main reducing gear speed ratio; η
TBe transmission efficiency; In the above-mentioned parameter, R
r, i
g, i
0, η
TBe the vehicle design parameter, can be in advance according to the application vehicle of entire car controller determine and input model in, T
MFeed back to the value of motor model after determining according to control signal and steering logic for entire car controller.
Air resistance calculates according to following formula 3:
In the formula 3: F
WBe air resistance, unit is N; C
DBe coefficient of air resistance, NIs
2/ m
4A is front face area, and unit is a square metre (m
2); u
aSpeed when moving for simulative automobile, unit is km/hour (km/h); In the above-mentioned parameter, C
DRelevant with the design shape of vehicle, after vehicle shape is determined, can be according in the definite also input model of dynamics of vehicle principle, A can be according in the acquisition of vehicle body design calculation of parameter and the input model, u
aBe the calculated value of finally determining according to formula 1.
Resistance to rolling is calculated according to following formula 4:
In the formula 4: F
fBe resistance to rolling, unit is N; F is the rolling resistance of wheel coefficient, can select corresponding empirical value input model according to different test environments, generally can get
G is the Automobile Body Design general assembly (TW), and unit is N, can be according in the definite also input model of Automobile Design parameter.
Grade resistance is calculated according to following formula 5:
In the formula 5, F
iBe grade resistance, N;
Be automobile and horizontal road angle of slope, unit is degree π;
Be the vehicle operating environmental parameter, can select corresponding angle value to be input to model according to different test environments, and in test process, can adjust at any time according to the test scene of design, need adjust the road grade angle when for example test scene is changed to descending from upward slope.
Acceleration resistance is calculated according to following formula 6:
In the formula 6: F
jBe acceleration resistance, unit is N; Be correction coefficient of rotating mass,
Be the parameter of dynamics of vehicle the inside, in emulation testing, can adopt fixed value, relevant with the moment of inertia of wheel and flywheel.
According to above-mentioned emulation testing Model Design principle, in a concrete emulation testing example, the parameter that each submodel is imported when carrying out emulation testing is as shown in table 1 below, and wherein, the IO signal comprises digital quantity and the analog quantity in the table 1.Real number value is the parameter that needs when setting up dynamics and kinematics model, such parameter is the coefficient of setting up in the computing formula that realistic model is employing, the CAN signal is through the back data signals transmitted on the CAN bus of packing, support each parts of CAN agreement, for example entire car controller, operation monitoring equipment etc. can be realized communication by the CAN bus.
Each submodel input parameter table of table 1.
Emulator in the embodiment of the invention can be based upon the dSPACE hardware platform, supports the input and output of digital signal, simulating signal and high-frequency pulse signal, and the software platform of emulation testing model can be set up based on MATLAB/Simulink.The emulation testing model can comprise motor submodel, battery submodel, chassis electric signal submodel as required, and the kinematic train submodel etc., can carry out emulation testing to the steering logic of any entire car controller.
The emulation testing model downloads in the emulator by composing software, utilize the emulation testing model to obtain to drive IO signal and the CAN bus signals of hardware, and export entire car controller to, the feedback IO signal of entire car controller and CAN bus signals signal export in the emulator, form hardware device in the emulation testing loop of ring.The emulation monitoring equipment obtains the travel condition of vehicle parameter that logical analog computation goes out from emulator, utilize running state parameter to show the running status of vehicle.
As shown in table 2, in a concrete example, for realizing the displaying of travel condition of vehicle, emulator need send to the emulation monitoring equipment with the following parameter of realistic model output, certainly, for showing real more running environment, some environmental parameters can also be sent to emulation monitoring equipment, for example road grade angle equivalence.
Table 2. submodel output parameter table
The embodiment of the invention can be tested various entire car controllers, for example engineering machinery vehicle, pure electronic environmental sanitation car etc., at different vehicles, when setting up the emulation testing model, take into full account the different characteristics of various vehicles, for example in the test at pure electronic environmental sanitation car, need to consider the characteristic on its chassis, what will consider also that drive motor in the vehicle for example uses is permagnetic synchronous motor, accumulator uses is factor such as lithium iron phosphate storage battery, thereby sets up the emulation testing model that is used for test specific vehicle entire car controller.
The above-mentioned model framework that the embodiment of the invention provides only is an example, those skilled in the art fully can be on the material foundation that the application provides, revise test model according to different tested objects, thereby the emulation test system that utilizes the embodiment of the invention to provide is realized the hardware-in-the-loop test of entire car controller.
General, entire car controller is connected with operation monitoring equipment by the CAN bus, the line data of going forward side by side exchange, and for the operating state signal of the output of monitoring, show car load control, operating state signal is performance parameter and failure alarm signal etc. for example.
Above-mentioned emulation testing model framework only is an example, those skilled in the art can be according to different vehicles and different testing requirement design and simulation test models, variation along with the emulation testing model structure, the required input and output parameter of emulation testing model also can change thereupon, the travel condition of vehicle indicator signal of entire car controller also may change thereupon, illustrates no longer one by one here.
From top explanation as can be seen, in the hardware-in-the-loop test scheme of the entire car controller that the embodiment of the invention provides, the test run of vehicle all by emulator 102 based on the realistic model analog computation, and can simulating vehicle in the operation of various running environments, with the steering logic of test entire car controller in different running environments, adopt 3-D technology real-time exhibition travel condition of vehicle, and the output parameter of entire car controller, improve the accuracy of emulation testing and the efficiency of research and development of entire car controller, reduced the testing cost of entire car controller.Show test results in real time and comprise: motor, battery, chassis and failure alarm signal state, and the running car road conditions, the transport condition that utilize virtual reality scenario to show, simulates real are carried out and are sailed environment.
Obviously, those skilled in the art can carry out various changes and modification to the present invention and not break away from the spirit and scope of the present invention.Like this, if of the present invention these are revised and modification belongs within the scope of claim of the present invention and equivalent technologies thereof, then the present invention also is intended to comprise these changes and modification interior.
Claims (10)
1. the hardware-in-the-loop test system of an entire car controller is characterized in that, comprising:
Simulated operation equipment, emulator, operation monitoring equipment and emulation monitoring equipment, described emulator connects entire car controller and the emulation monitoring equipment of simulation operating equipment, simulated test respectively, described operation monitoring equipment connects the entire car controller of simulated test, wherein:
Described simulated operation equipment, the vehicle simulation operation of response user in the process of emulation testing entire car controller obtains the emulation testing model input parameter of vehicle and sends to emulator;
Described emulator, comprise the emulation testing model, and be used for according to the control in the emulation testing process of emulation testing model input parameter and entire car controller, utilize the emulation testing model of simulating vehicle hardware device operation to obtain vehicle emulation testing running state parameter, the emulation testing running state parameter is exported to the emulation monitoring equipment, and the emulation testing running state parameter is converted to the control signal that drives vehicle operating, and control signal is exported to entire car controller;
Described operation monitoring equipment receives and shows the travel condition of vehicle indicator signal of exporting in the entire car controller emulation testing process of described simulated test;
Described emulation monitoring equipment according to the vehicle emulation testing running state parameter of emulator output, is showed simulation run process and the state of vehicle based on the virtual reality scenario model of three-dimensional.
2. hardware-in-the-loop test as claimed in claim 1 system, it is characterized in that, described simulated operation equipment, the test environment parameter that also is used for the user is imported in the process of emulation testing entire car controller sends to emulator as emulation testing model input parameter.
3. hardware-in-the-loop test as claimed in claim 2 system is characterized in that described emulation testing model comprises at least: motor submodel, chassis electric signal submodel, battery submodel, vehicle movement scholar model and kinematic train submodel.
4. hardware-in-the-loop test as claimed in claim 3 system is characterized in that described kinematic train submodel is set up according to following formula:
F
t＝F
w+F
f+F
i+F
j
Wherein, F
tThe expression driving force, F
WThe expression air resistance, F
fThe expression resistance to rolling, F
iThe expression grade resistance, F
jThe expression acceleration resistance.
5. hardware-in-the-loop test as claimed in claim 4 system is characterized in that described driving force F
tCalculate according to following formula:
Wherein: F
tBe driving force, unit is newton N; T
MFor driving force is F
tThe time motor torque, unit is ox. rice Nm; R
rBe vehicle wheel roll radius, unit is rice m; i
gBe transmission gear ratio; i
0Be the main reducing gear speed ratio; η
TBe transmission efficiency; In the above-mentioned parameter, R
r, i
g, i
0, η
TBe the vehicle design parameter, can determine T according to the application vehicle of entire car controller in advance
MBe the value of feedback of entire car controller after determining according to control signal and steering logic.
6. hardware-in-the-loop test as claimed in claim 4 system is characterized in that described air resistance F
WCalculate according to following formula:
Wherein: F
WBe air resistance, unit is N; C
DBe coefficient of air resistance, unit is Ns
2/ m
4, A is front face area, unit is a square metre m
2u
aSpeed when moving for simulative automobile, unit is km/hour (km/h); In the above-mentioned parameter, C
DRelevant with the design shape of vehicle, determine that according to vehicle shape A obtains according to the vehicle body design calculation of parameter, u
aFor according to F
t=F
w+ F
f+ F
i+ F
jThe calculated value that obtains.
7. hardware-in-the-loop test as claimed in claim 4 system is characterized in that described resistance to rolling F
fCalculate according to following formula:
F
f＝G·f
Wherein: F
fBe resistance to rolling, unit is N; F is the rolling resistance of wheel coefficient, selects corresponding empirical value according to different test environments; G is the Automobile Body Design general assembly (TW), and unit is N, determines according to the Automobile Design parameter.
8. hardware-in-the-loop test as claimed in claim 4 system is characterized in that described grade resistance F
iCalculate according to following formula:
F
i＝G·tagα
Wherein, F
iBe grade resistance, unit is N; α is automobile and horizontal road angle of slope, unit for the degree °; α is the vehicle operating environmental parameter, selects corresponding angle value according to different test environments; Perhaps
Described acceleration resistance F
jCalculate according to following formula:
Wherein: F
jBe acceleration resistance, unit is N; δ is correction coefficient of rotating mass, δ＞1; M is car mass, and unit is kg;
Acceleration during for vehicle operating.
9. as the arbitrary described hardware-in-the-loop test of claim 1～8 system, it is characterized in that: described emulator is connected entire car controller by the IO signal wire with the CAN bus, and described control signal comprises IO signal and CAN bus signals; Described operation monitoring equipment connects entire car controller by the CAN bus.
10. as the arbitrary described hardware-in-the-loop test of claim 1～8 system, it is characterized in that described emulator is based on the dSPACE emulator, described emulation testing model is set up based on the MATLAB/Simulink software platform.
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Cited By (42)
| Publication number | Priority date | Publication date | Assignee | Title |
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