CN103514334A - Application of embedded simulation platform on industrial equipment design - Google Patents
Application of embedded simulation platform on industrial equipment design Download PDFInfo
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- CN103514334A CN103514334A CN201310482259.XA CN201310482259A CN103514334A CN 103514334 A CN103514334 A CN 103514334A CN 201310482259 A CN201310482259 A CN 201310482259A CN 103514334 A CN103514334 A CN 103514334A
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Abstract
The invention discloses application of an embedded simulation platform on industrial equipment design. The application is mainly oriented to control systems of complex products such as electronic equipment, robots, ceramic machines, aircraft landing gears and industrial elevators. In order to adapt to simulation development requirements of the control systems of the complex products, the embedded simulation platform comprises two control simulation subsystems including an off-line simulation system and a hardware-in-loop simulation system. When simulation is carried out, a semi-physical simulation method is adopted. Firstly, off-line simulation is carried out on the control systems of industrial equipment through the off-line simulation system to obtain off-line simulation models, then the off-line simulation models are converted into C program language codes oriented to an embedded controller, finally, the C program language codes are compiled into embedded object codes, and the embedded object codes are downloaded into a hardware system of the hardware-in-loop simulation system to carry out semi-physical simulation. The whole simulation process breaks through limitation of a traditional control system simulation development mode, and the achievement of multi-field physical modeling of the control systems of the complex products is facilitated.
Description
Technical field
The present invention relates to utilize computing machine to carry out imitation technology field, relate in particular to the application of a kind of embedded emulation platform in industrial equipment design.
Background technology
The control system of complicated dynamoelectric equipment is coupled with mechanical, electrical, hot, sound, a plurality of field of optical, electrical magnetic subsystem height conventionally, and control system development approach is the guarantee of stability of control system and reliability efficiently.Traditional control system exploitation is a kind of manual control mode development approach that lays particular emphasis on single ambit, can not support the needs of complicated dynamoelectric equipment control system fast Development and decision making package, therefore the exploitation of the Control System Imitation based on multi-field has become international mainstream development approach.
Yet the Multi-disciplinary Modeling emulation platform of the complicated dynamoelectric equipment control system exploitation of current support is monopolized by offshore company, expensive, seriously restricted the innovative development of complicated dynamoelectric equipment control system.Therefore must be from complication system angle, research is towards complicated dynamoelectric equipment control system Multi-disciplinary Modeling simulation theory method.For meeting the engineering demand of day by day strong complicated dynamoelectric equipment control system multidomain modeling and simulation, system modeling and simulation mainly adopts the multi-field associative simulation of realizing some application-specific based on interface and High Level Architecture method.But the method based on interface lacks unified standard, and interface exploitation workload is large, and needs people for cutting apart coupled relation between different field subsystem; And based on High Level Architecture (HLA), be a kind of emulation technology framework standard proposing for structure large scale emulation application integration problem, can meet to a certain extent multiple specific area engineering system simulation demand, but the method needs the commercial simulation software in each field that the interface of same HLA is provided, require modeling personnel to be familiar with the various services of HLA/RTI, and work out corresponding program code, its model is integrated quite loaded down with trivial details, and be difficult to expansion reuse.
For realizing complication system Multi-disciplinary Modeling simulation analysis, the emulation EUROSIM of association in Europe proposes multi-field based on Modelica language, the complicated physical system modeling of continuously-mixed discrete standard, adopt Object-oriented Technique to carry out model description, realized model reusable, restructural, extendible advanced frame system, knowledge accumulation and the modern times exploitation theory of reusing have been embodied, be suitable for unified Modeling and the collaborative simulation analysis of multi-field complication system, Bing Yi robot, electronics, aviation, application succeeds in the industry complex control system modeling simulation analysis such as space flight.Therefore, the complex equipment control system multidomain uniform modeling based on Modelica linguistic norm and emulation are trend of the times.
The at present commercialization machinery multi-body system ADAMS of simulation software, circuit simulating software SPICE and Hydraulic System Simulation software Flowmaster etc. are professional domain is powerful separately, but limited to other field descriptive power, can not support multidomain uniform modeling and simulation analysis.The General Simulation Platform that the MATLAB/Simulink of take is representative adopts the idea about modeling based on piece figure, need user to carry out manual derivation to the math equation of complex model, the method modeling process is very loaded down with trivial details, and topological structure and the actual physics model of institute's established model greatly differ from each other, and each model component reusability is poor.
Summary of the invention
The object of the present invention is to provide the application of a kind of embedded emulation platform in industrial equipment design, to reach the object that modeling process is simple, model is reusable, simulated effect is good.
For reaching above object, the present invention adopts following technical scheme.
The application of embedded emulation platform in industrial equipment design, is characterized in that, its model emulation adopts semi-physical simulation means to realize, and comprising:
First, utilize the carry out off-line simulation of off-line emulation system to industrial equipment control system, obtain off-line simulation model;
Then, off-line simulation model conversation is become to the c programming language code of Embedded controller;
Finally, by c programming language code compilation, be embedded target code, and download in the hardware system of hardware-in-loop simulation system and carry out semi-physical simulation.
As a kind of preferred embodiment, the system model of described off-line emulation system and hardware-in-loop simulation system is realized consistent expression by Modelica standard with broad sense kirchhoff's principle, for the unified Modeling of two analogue systems.
As a kind of preferred embodiment, described embedded emulation platform is divided into five levels, that is, hardware layer, system support layer, infrastructure service layer, enable tool layer and demonstration should layer.
As a kind of preferred embodiment, model emulation step comprises:
First design documentation object model class is to represent Modelica abstract syntax tree;
Then DOM Document Object Model is carried out to three times compilings, generate the differential algebraic equations system of the continuous mixed discrete of general type;
Finally above-mentioned differential algebraic equations system is carried out reduction, separated coupling, make it to become a series of differential algebraic equations subsystems, and the order of passing through of carrying out differential algebraic equations subsystem solves.
The application of a kind of embedded emulation platform provided by the invention in industrial equipment design, it is mainly used in the control system of electronics, robot, ceramic machinery, undercarriage, elevator industry.
The application of a kind of embedded emulation platform provided by the invention in industrial equipment design has following beneficial effect:
One, at whole simulation process, take model as basis, utilize off-line simulation and hardware-in-loop simulation in the simulation model of one, break through the restriction of traditional control system simulating developer pattern, be conducive to realize the multi-field physical modeling of complex product control system, be conducive to the speed-to-market exploitation of control system.
Two, because the system model of off-line emulation system and hardware-in-loop simulation system is realized consistent expression by Modelica standard with broad sense kirchhoff's principle, utilize Modelica standard language by emulation platform and knowledge separation, change the present situation of Knowledge Dependency software; Using Modelica as the language carrier of engineering knowledge, using emulation platform as infrastructure, using knowledge services as a kind of general business model, thereby make a kind of engineering platform commercial application new model that is more conducive to innovation.
Embodiment
For further setting forth essence of the present invention, below the specific embodiment of the present invention is set forth.
The application of embedded emulation platform in industrial equipment design, the main control system towards complex products such as electronics, robot, ceramic machinery, undercarriage, elevator industry.For adapting to complex product Control System Imitation exploitation needs, described embedded emulation platform has comprised off-line simulation and two control simulation subsystems of hardware-in-loop simulation.Logic, this platform can be divided into 5 levels: hardware layer, system support layer, infrastructure service layer, enable tool layer and demonstration should layer.
During concrete emulation, adopt semi-physical simulation means, first, utilize the carry out off-line simulation of off-line emulation system to industrial equipment control system, obtain off-line simulation model; Then, off-line simulation model conversation is become to the c programming language code of Embedded controller; Finally, by c programming language code compilation, be embedded target code, and download in the hardware system of hardware-in-loop simulation system and carry out semi-physical simulation.Whole simulation process be take model as basis, utilize off-line simulation and hardware-in-loop simulation in the simulation model of one, break through the restriction of traditional control system simulating developer pattern, be conducive to realize the multi-field physical modeling of complex product control system, be conducive to the speed-to-market exploitation of control system.
Wherein, realize for convenience the unified Modeling of off-line emulation system and hardware-in-loop simulation system, the system model of described off-line emulation system and hardware-in-loop simulation system is all realized consistent expression based on Modelica standard with broad sense kirchhoff's principle; And then unified integrated emulation and controlled development environment, the control system conceptual design of product, system multidomain uniform modeling analysis and simulation and real-time simulation are tested to the monitoring of experimental result and adjusting and be fully integratible in a set of development platform and realize.
More specifically, for realizing, the emulation of complex industrial dynamoelectric equipment is solved, first design documentation object model (Document Object Model, DOM) class is to represent Modelica abstract syntax tree; Then DOM Document Object Model (DOM) is carried out to three times compilings, generate the differential algebraic equations system of the continuous mixed discrete of general type; Finally above-mentioned differential algebraic equations (Differential algebraic equations, DAE) system is carried out reduction, separated coupling, make it to become a series of differential algebraic equations subsystems, and the order of passing through of carrying out differential algebraic equations subsystem solves.
The control system of the many moneys product by 4 dynamoelectric equipment enterprises is carried out modeling and simulating Demonstration Application, and embedded emulation platform provided by the invention is reaching MatLab/Simulink software level aspect the multi-field physics unified Modeling of control system and emulation.
Above embodiment has been described in detail essence of the present invention, but can not to protection scope of the present invention, limit with this.In every case according to the present invention's essence, the simple modifications of doing, modification or equivalent transformation, within all dropping on claim protection domain of the present invention.
Claims (5)
1. the application of embedded emulation platform in industrial equipment design, is characterized in that, its model emulation adopts semi-physical simulation means to realize, and comprising:
First, utilize the carry out off-line simulation of off-line emulation system to industrial equipment control system, obtain off-line simulation model;
Then, off-line simulation model conversation is become to the c programming language code of Embedded controller;
Finally, by c programming language code compilation, be embedded target code, and download in the hardware system of hardware-in-loop simulation system and carry out semi-physical simulation.
2. the application of a kind of embedded emulation platform according to claim 1 in industrial equipment design, it is characterized in that, the system model of described off-line emulation system and hardware-in-loop simulation system is realized consistent expression by Modelica standard with broad sense kirchhoff's principle, for the unified Modeling of two analogue systems.
3. the application of a kind of embedded emulation platform according to claim 1 in industrial equipment design, it is characterized in that, described embedded emulation platform is divided into five levels, that is, hardware layer, system support layer, infrastructure service layer, enable tool layer and demonstration should layer.
4. the application of a kind of embedded emulation platform according to claim 1 in industrial equipment design, is characterized in that, concrete model emulation step comprises:
First design documentation object model class is to represent Modelica abstract syntax tree;
Then DOM Document Object Model is carried out to three times compilings, generate the differential algebraic equations system of the continuous mixed discrete of general type;
Finally above-mentioned differential algebraic equations system is carried out reduction, separated coupling, make it to become a series of differential algebraic equations subsystems, and the order of passing through of carrying out differential algebraic equations subsystem solves.
5. the application of a kind of embedded emulation platform according to claim 1 in industrial equipment design, is characterized in that, it is used in the control system of electronics, robot, ceramic machinery, undercarriage, elevator industry.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108038257A (en) * | 2017-11-02 | 2018-05-15 | 中车工业研究院有限公司 | The modularization modeling method and device of intelligent industrial production line |
| CN111413867A (en) * | 2020-03-12 | 2020-07-14 | 大连理工大学 | Rapid modeling and optimization method for equivalent controller of hydraulic control mechanism on Flowmaster platform |
| CN111562776A (en) * | 2020-06-23 | 2020-08-21 | 上海市特种设备监督检验技术研究院 | Hardware-in-loop simulation test system and test method for elevator controller |
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| JP2006236035A (en) * | 2005-02-25 | 2006-09-07 | Ricoh Co Ltd | Drive control system design support device, drive control system design support program, drive mechanism design support device, drive mechanism design support program and recording medium |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108038257A (en) * | 2017-11-02 | 2018-05-15 | 中车工业研究院有限公司 | The modularization modeling method and device of intelligent industrial production line |
| CN111413867A (en) * | 2020-03-12 | 2020-07-14 | 大连理工大学 | Rapid modeling and optimization method for equivalent controller of hydraulic control mechanism on Flowmaster platform |
| CN111413867B (en) * | 2020-03-12 | 2021-08-10 | 大连理工大学 | Rapid modeling and optimization method for equivalent controller of hydraulic control mechanism on Flowmaster platform |
| CN111562776A (en) * | 2020-06-23 | 2020-08-21 | 上海市特种设备监督检验技术研究院 | Hardware-in-loop simulation test system and test method for elevator controller |
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