CN104731080B - A kind of hardware-in-loop simulation environmental model automatic creation system and method - Google Patents
A kind of hardware-in-loop simulation environmental model automatic creation system and method Download PDFInfo
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- CN104731080B CN104731080B CN201310706675.3A CN201310706675A CN104731080B CN 104731080 B CN104731080 B CN 104731080B CN 201310706675 A CN201310706675 A CN 201310706675A CN 104731080 B CN104731080 B CN 104731080B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
- G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
- G05B23/0208—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterized by the configuration of the monitoring system
- G05B23/0213—Modular or universal configuration of the monitoring system, e.g. monitoring system having modules that may be combined to build monitoring program; monitoring system that can be applied to legacy systems; adaptable monitoring system; using different communication protocols
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
- G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
- G05B23/0218—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterised by the fault detection method dealing with either existing or incipient faults
- G05B23/0221—Preprocessing measurements, e.g. data collection rate adjustment; Standardization of measurements; Time series or signal analysis, e.g. frequency analysis or wavelets; Trustworthiness of measurements; Indexes therefor; Measurements using easily measured parameters to estimate parameters difficult to measure; Virtual sensor creation; De-noising; Sensor fusion; Unconventional preprocessing inherently present in specific fault detection methods like PCA-based methods
Abstract
The invention discloses a kind of hardware-in-loop simulation environmental model automatic creation system, it includes：Host computer；Hardware parameter configuration module, physical model configuration module, the logic association module being connected respectively with hardware parameter configuration module and physical model configuration module, the sign mutation curve injection setup module being connected with logic association module set respectively by model vehicle of host computer；The parameter testing module being connected with sign mutation curve injection setup module, the model generation module and compiling download module that are connected with parameter testing module.The present invention can make simulated environment design build automation with simulation model, shorten the hardware-in-the-loop test time, have cured test framework, while reducing proficiency's requirement.In addition, the invention also discloses a kind of hardware-in-loop simulation environmental model automatic generation method.
Description
Technical field
The present invention relates to hardware in loop simulation technique field, and in particular to a kind of hardware-in-loop simulation environmental model is given birth to automatically
Into system and method.
Background technology
Hardware-in-the-loop test system（Hardware-in-the-Loop, HiL）It is to run to emulate with real-time processor
Model simulates the running status of controll plant, passes through I/O interfaces and tested electronic control unit（Electronic
Control Unit, ECU）Connection, to be tested ECU carry out in all directions, the test of system.From security, feasibility and rationally
Cost on consider, hardware-in-the-loop test has become a very important ring in ECU development process, reduces real vehicle road
The number of times of examination, shortens the development time and ECU software quality is improved while reducing cost, reduce the risk of automobile factory.
At present, in hardware-in-the-loop test, the workload that simulation model is built is very huge, can expend a large amount of
Time and manpower, and because simulation model builds the difference of proficiency, the work difficulty or ease journey for causing simulation model to be debugged
Degree is also different, causes the time cycle length of hardware-in-the-loop test and very uncontrollable.
The content of the invention
（One）The technical problem to be solved
The technical problems to be solved by the invention are
System and method, to overcome the deficiencies in the prior art, make simulation model build automation, shorten hardware-in-the-loop test
Time.
（Two）Technical scheme
To achieve the above object, hardware-in-loop simulation environmental model automatic creation system of the present invention includes：Host computer, as
The carrier of simulated environment design and auto-building model；The hardware parameter configuration module set by model vehicle of host computer, is used
In configuration hardware parameter and generate signal initial value；The physical model configuration module set by model vehicle of host computer, is used for
Select and configure physical model and generate Virtual Controller；The logic association module set by model vehicle of host computer, its point
Be not connected with hardware parameter configuration module and physical model configuration module, for by the signal initial value of generation with generation it is virtual
Controller is attached；The sign mutation curve injection setup module set by model vehicle of host computer, itself and logic association
Module is connected, for importing sign mutation curve；The parameter testing module set by model vehicle of host computer, it is prominent with signal
Varied curve injection setup module connection, for being checked to value in interface and with value；Set by model vehicle of host computer
The model generation module put, it is connected with parameter testing module, for being checked and being generated to value after inspection and with value
Final hardware-in-loop simulation environmental model；And the compiling download module set by model vehicle of host computer, for certainly
The hardware-in-loop simulation environmental model of dynamic generation is compiled and downloaded.
Preferably, hardware parameter configuration module includes：Information imports submodule, for importing initial information；Led with information
Enter the information sub-module stored of submodule connection, for storing the initial information imported；And with information import submodule and/or
The information of information sub-module stored connection checks submodule, for checking initial information.
Preferably, the physical model configuration module includes：Model selects submodule, for the physics for selecting to need to test
Model；The model parameter for selecting submodule to be connected with model configures submodule, for being carried out to selected physical model statistic property
Configuration；The Virtual Controller pre-generatmg judging submodule that submodule is connected is configured with model parameter, for according to selected thing
Manage the Virtual Controller that model automatic decision needs to generate；And be connected with Virtual Controller pre-generatmg judging submodule it is virtual
Controller parameter configuration prompt submodule, for pointing out user to carry out the call parameter configuration before Virtual Controller generation.
Preferably, the model generation module includes：Hardware interface model submodule, sets for the hardware with required test
Standby connection；User interface, it includes multiple method test interfaces, the test for realizing a variety of distinct methods.
Preferably, the multiple method test interface includes virtual driving interface, system debug interface, full survey manually respectively
Try mouth, the single grouting socket of sign mutation curve and sign mutation curve packet grouting socket in two or more.
Preferably, the logic association module includes Engine Start Signal association, the association of motor demand torque signal, electricity
Machine speed feedback signal association, cell voltage association, battery current association and relay switch signal association in one or
It is multiple.
Preferably, when the Virtual Controller pre-generatmg judging submodule includes power-on time prompting, controller initialization
Between prompting, moment of torsion closed loop confirm prompting, speed closed loop confirm prompting and put soon prompting one or more of.
Preferably, the physical model configuration module also monitors the submodule that reports an error including signal threshold values, for aiding in using
Person chooses whether to make part signal possess threshold values monitoring and quote errorlevel automatically according to the initial information of importing.
Assemblage on-orbit environmental model automatic generation method of the present invention be based on above-mentioned hardware-in-loop simulation environmental model from
What dynamic generation system was carried out, this method mainly includes step：S1：Host computer is opened, is imported just by hardware parameter configuration module
Beginning information is to configure hardware parameter, until generation signal initial value；S2：Physical model is selected by physical model configuration module,
And physical model statistic property is configured, until generation Virtual Controller；S3：By logic association module by the beginning of the signal of generation
Initial value and the connection of the Virtual Controller of generation, realize logic association；S4：According to the prompting after association, pass through sign mutation curve
Injection setup module chooses whether to import sign mutation curve and determined；S5：Each step is set by parameter testing module
Put and checked with parameter the step of model is generated；S6：After inspection is errorless, start to generate finally by model generation module
Hardware-in-loop simulation environmental model；S7：Compile the model of generation automatically by compiling download module, and model is downloaded into hardware
In the real-time processing of ring test equipment, follow-up work is carried out.
Preferably, the initial information described in step S1 includes test information and CAN protocol file.
（Three）Beneficial effect
Compared with prior art, the invention has the advantages that：
1）Hardware-in-loop simulation environmental model automatic creation system of the present invention is by setting hardware parameter configuration module, physics
Model configuration module, logic association module, sign mutation curve injection setup module, parameter testing module, model generation module
And compiling download module etc., and will in order be combined between each module, simulated environment design can be made to build one with simulation model
It is body, rapid, the hardware-in-the-loop test time is shortened, while have cured test framework, proficiency's requirement is reduced；
2）The hardware parameter configuration module of the present invention can import initial information, automatic inspection import information and be stored up
Deposit, realize the flexible configuration of hardware parameter, be hardware-in-loop simulation environmental model system while can also generate signal initial value
Automatically generate and lay a good foundation；
3）The physical model configuration module of the present invention can select physical model, and selected physical model can be carried out
Parameter configuration, and Virtual Controller is generated by these work, also it is equally the automatic of hardware-in-loop simulation environmental model system
Generation is laid a good foundation；
4）The logic association module of the present invention can be connected the signal initial value of generation with the Virtual Controller generated
Matching is connect, the Virtual Controller of generation and physical model and related information parameters etc. are constituted and associated；
5）The parameter testing module of the present invention can check whether the setting of each step is normal before model generation
Complete, the step of checking whether there is model generation missing or parameter, and pointed out；
6）The model generation module of the present invention can automatically generate hardware-in-loop simulation environmental model based on above-mentioned link, simultaneously
User's operate interface comprising various test is also generated, is that follow-up simulation hardware test lays the foundation；
7）The compiling download module of the present invention can compile the model of generation automatically, and model can be downloaded to hardware in loop survey
In the real-time processor for trying equipment, test to establish and dock bridge for model and the simulation hardware of generation；
6）Hardware-in-loop simulation environmental model automatic creation system of the present invention realizes simulation model and builds automation, can use
Automatic in multiple hardwares assemblage on-orbit environmental model is built, market（Especially automotive field）Have a high potential.
Brief description of the drawings
Fig. 1 is the structural representation of hardware-in-loop simulation environmental model automatic creation system of the present invention；
Fig. 2 is the host computer and hardware in loop as hardware-in-loop simulation environmental model automatic creation system carrier of the present invention
Test equipment connection diagram；
Fig. 3 is the process sequence diagram of hardware-in-loop simulation environmental model automatic generation method of the present invention.
Description of reference numerals：1- hardware parameter configuration modules；2- physical model configuration modules；3- logic association modules；4-
Sign mutation curve injects setup module；5- parameter testing modules；6- model generation modules；7- compiles download module；8- is upper
Machine；9- hardware-in―the-loop test equipment.
Embodiment
The invention will now be described in further detail with reference to the accompanying drawings.It should be noted that accompanying drawing is only used for explaining this
Invention, is the signal to the embodiment of the present invention, and it is not intended that limitation of the invention.
As shown in Figure 1 and Figure 2, hardware-in-loop simulation environmental model automatic creation system of the present invention mainly includes：Host computer 8,
And respectively with hardware parameter configuration module 1, physical model configuration module 2, logic association of the host computer 8 for model vehicle setting
Module 3, sign mutation curve injection setup module 4, parameter testing module 5, model generation module 6 and compiling download module 7.On
Position machine 8 is mainly used as the carrier of simulated environment design and auto-building model；Hardware parameter configuration module 1 is used to configure hardware ginseng
Count and generate signal initial value；Physical model configuration module 2 is used to selecting and configuring physical model and generates Virtual Controller；Patrol
Collect relating module 3 to be connected with hardware parameter configuration module 1 and physical model configuration module 2 respectively, at the beginning of the signal by generation
Initial value is attached with the Virtual Controller generated；Sign mutation curve injection setup module 4 is connected with logic association module 3,
For importing sign mutation curve；It is connected parameter testing module 5 with sign mutation curve injection setup module 4, for boundary
In face to value and being checked with value；Model generation module 6 is connected with parameter testing module 5, for giving value after inspection
With checked with value and generate final hardware-in-loop simulation environmental model；Compiling download module 7 is used for automatically generating
Hardware-in-loop simulation environmental model is compiled and downloaded.
Specifically, hardware parameter configuration module 1 mainly includes information importing submodule, information sub-module stored and information inspection
Look into submodule etc..Information imports submodule and can be used to import initial information, such as imports test information, CAN protocol file；Information
Sub-module stored imports submodule with information and is connected, and the initial information of importing can be stored；Information checks submodule block message
Submodule and/or the connection of information sub-module stored are imported, initial information can be checked, such as：Check that imported hardware is matched somebody with somebody
Confidence ceases and whether CAN protocol can use, and checks whether hardware configuration information is vicious and sets, analog channel output voltage
Voltage is protected beyond tested controller, the controller operating voltage of setting is set whether within controller operating voltage range
Passage whether belong to unusable or occupied passage, whether CAN protocol file is file good for use etc..
The signal initial value that hardware parameter configuration module 1 is generated（I.e. initial value gives）, it is ensured that during system debug, provide one group it is absolute
System will not be made to quote the debugging numerical value of any failure, will be had very great help when tackling complication system, the numerical value can not be straight
Connect modification, it is to avoid after automatic creation system completes model generation, user manually generates produced maloperation.
Physical model configuration module 2 mainly includes model selection submodule, model parameter configuration submodule, Virtual Controller
Pre-generatmg judging submodule and Virtual Controller parameter configuration prompting submodule etc..Model selection submodule can be used for selection to need
The physical model to be tested；Model parameter configures submodule and is connected with model selection submodule, available for selected physics
Model parameter is configured；Virtual Controller pre-generatmg judging submodule is connected with model parameter configuration submodule, available for root
The Virtual Controller for needing to generate according to selected physical model automatic decision；Virtual Controller parameter configuration prompting submodule with
Virtual Controller pre-generatmg judging submodule is connected, and the call parameter before Virtual Controller generation is carried out available for prompting user
Configuration, Virtual Controller pre-generatmg judging submodule includes power-on time prompting, the prompting of controller initialization time, moment of torsion closed loop
Confirm that prompting, speed closed loop confirm prompting and put one or more of prompting soon.Specifically, user can be according to the meaning of oneself
There are motor, battery, engine in figure selection physical model, such as selection system, while the parameter of physical model is configured, such as motor
Efficiency MAP, the internal resistance of battery, external characteristic curve, the universal characteristic curve of engine etc., afterwards according to selected physical model
Automatic decision needs the Virtual Controller generated, then user can be pointed out to configure the call parameter in Virtual Controller, such as
Power-on time, controller initialization time, moment of torsion closed loop whether is needed, speed closed loop whether is needed, whether possesses fast playing function,
And allow user to choose whether to make part signal possess threshold values monitoring automatically according to the test information, the CAN protocol that import before
Quote the function of errorlevel.Last then composition one meets the Virtual Controller of user's intention.
Logic association module 3 mainly includes Engine Start Signal association, the association of motor demand torque signal, motor speed
One or more of feedback signal association, cell voltage association, battery current association and the association of relay switch signal.Patrol
Volume relating module 3 can realize Virtual Controller and set up necessary letter between the physical model and hardware parameter that select before etc.
Number connection, the enabling signal of such as engine, the demand torque signal of motor, the speed feedback signal of motor etc..Match completion
Virtual Controller is then constituted with physical model and contacted afterwards.
Sign mutation curve injection setup module 4 can prompt the user whether to need to carry out " inserting "（That is sign mutation curve
Injection is set）, if desired can then point out user to import sign mutation curve, when the curve is typically distributed across when user imports
Discrete point on countershaft, user can select 3 kinds of discrete points to constitute the mode of full curve, and such as respectively step, straight line are inserted
Value, smooth interpolation, sign mutation curve can make certain single or multiple signal occur expected setting in any time of emulation testing
Sign mutation, and the number of times of repetition and the frequency of generation can be set, the signal not being configured is unaffected.Importing
During sign mutation curve, automatic creation system of the present invention can check curve and hardware configuration before and the CAN protocol institute of importing
Whether the signal of description matches, and whether curve numerical value can use, such as can check whether the curve numerical value of transmission matches somebody with somebody in hardware parameter
Put, within the scope of CAN protocol.
Parameter testing module 5 checks whether the setting of each step normally completes before model generation, checks whether
The step of having model generation missing or parameter, and pointed out.
Model generation module 6 mainly includes hardware interface model submodule, user interface etc..Hardware interface model
Module can be used to the hardware device connection with required test；User interface includes multiple method test interfaces, can use respectively
To realize the test of a variety of distinct methods, multiple method test interfaces preferably include virtual driving interface, system debug and connect respectively
Two in mouth, full manual test interface, the single grouting socket of sign mutation curve and sign mutation curve packet grouting socket
Or two or more.Specifically, model generation module 6 can be based on MATLAB softwares, and its principle can be used for all visual programmings soft
Part, it is ensured that generation model be can directly run one according to the set model being sequentially generated, while user operation connect
The interface comprising various test can be generated at mouthful, such as virtual driving, system debug, full manual test, sign mutation are bent
The single injection of line, the packet injection of sign mutation curve.Whole model genesis sequence can ensure to occur without algebraic loop mistake.
Compiling download module 7 can compile the model of generation automatically, and the model of generation is downloaded into hardware-in―the-loop test set
In standby 9 real-time processor（Such as Fig. 2）, to carry out follow-up test work etc..
In addition, as shown in figure 3, the present invention is additionally provided based on above-mentioned hardware-in-loop simulation environmental model automatic creation system
A kind of hardware-in-loop simulation environmental model automatic generation method, this method mainly comprises the following steps：S1：Host computer 8 is opened, is led to
Cross hardware parameter configuration module 1 and import initial information to configure hardware parameter, until generation signal initial value；S2：Pass through physics
Model configuration module 2 selects physical model, and physical model statistic property is configured, until generation Virtual Controller；S3：Pass through
Logic association module 3 connects the signal initial value of generation and the Virtual Controller of generation, realizes logic association；S4：According to pass
Prompting after connection, is chosen whether to import sign mutation curve and is determined by sign mutation curve injection setup module 4；S5：It is logical
The step of setting and model for crossing each step of 5 pairs of parameter testing module are generated and parameter are checked；S6：After inspection is errorless,
Start to generate final hardware-in-loop simulation environmental model by model generation module 6；S7：It is automatic by compiling download module 7
The model of generation is compiled, and model is downloaded in the real-time processing of hardware-in―the-loop test equipment, follow-up work is carried out.Wherein,
Initial information in step S1 is with hereinbefore consistent, such as test information and CAN protocol file.
Find out from above-described embodiment, those of ordinary skill in the art are on the premise of without creative work can not be real
Existing technical scheme, it is seen that the present invention is non-obvious to those skilled in the art；In addition,
The present invention can bring following many beneficial effects：Hardware-in-loop simulation environmental model automatic creation system of the present invention is by setting
Hardware parameter configuration module 1, physical model configuration module 2, logic association module 3, sign mutation curve injection setup module 4,
Parameter testing module 5, model generation module 6 and compiling download module 7 etc., and will in order be combined between each module, it can make
Simulated environment design is built integrated, rapid with simulation model, is shortened the hardware-in-the-loop test time, be have cured simultaneously
Test framework, reduces proficiency's requirement；Hardware parameter configuration module 1 can import initial information, automatic check and import letter
Cease and stored, realize the flexible configuration of hardware parameter, be hardware-in-loop simulation ring while can also generate signal initial value
Automatically generating for border model system is laid a good foundation；Physical model configuration module 2 can select physical model, and can be to selected
Physical model carry out parameter configuration, and pass through these work generate Virtual Controller；Logic association module 3 can be by generation
Signal initial value is attached with the Virtual Controller generated and matched, by the Virtual Controller of generation and physical model and related letter
Cease parameter etc. and constitute association；Parameter testing module 5 can check whether the setting of each step is normal before model generation
Complete, the step of checking whether there is model generation missing or parameter, and pointed out；Model generation module 6 can be based on above-mentioned ring
Section automatically generates hardware-in-loop simulation environmental model, while user's operate interface comprising various test is also generated,
Laid the foundation for follow-up simulation hardware test；Compiling download module 7 can compile the model of generation automatically, and can download model
Into the real-time processor of hardware-in―the-loop test equipment, establish for model and the simulation hardware test of generation and dock bridge.This
Outside, hardware-in-loop simulation environmental model automatic creation system of the present invention realizes simulation model and builds automation, available for a variety of
The automatic of hardware-in-loop simulation environmental model is built, market（Especially automotive field）Have a high potential.
It should be noted that the foregoing is only presently preferred embodiments of the present invention, it is not intended to limit the invention, it is all in hair
Within bright spirit and principle, any modification, equivalent substitution and improvements made etc. should be included in protection scope of the present invention
Within.
Claims (9)
1. a kind of hardware-in-loop simulation environmental model automatic creation system, it is characterised in that it includes：
Host computer (8), is used as simulated environment design and the carrier of auto-building model；
It is the hardware parameter configuration module (1) that model vehicle is set with host computer (8), for configuring hardware parameter and generating signal
Initial value；
It is the physical model configuration module (2) that model vehicle is set with host computer (8), for selecting and configuring physical model and life
Into Virtual Controller；
With host computer (8) be model vehicle set logic association module (3), its respectively with hardware parameter configuration module (1) and
Physical model configuration module (2) is connected, for the signal initial value of generation and the Virtual Controller of generation to be attached；
It is the sign mutation curve injection setup module (4) that model vehicle is set, itself and logic association module with host computer (8)
(3) connect, for importing sign mutation curve；
It is the parameter testing module (5) that model vehicle is set with host computer (8), it injects setup module with sign mutation curve
(4) connect, for being checked to value in interface and with value；
With host computer (8) be model vehicle set model generation module (6), it is connected with parameter testing module (5), for pair
After inspection to value and being checked with value and generate final hardware-in-loop simulation environmental model；And
It is the compiling download module (7) that model vehicle is set with host computer (8), for the hardware-in-loop simulation ring to automatically generating
Border model is compiled and downloaded；
The model generation module (6) includes：Hardware interface model submodule, for the hardware device connection with required test；
User interface, it includes multiple method test interfaces, the test for realizing a variety of distinct methods；
Sign mutation curve injection setup module (4) can prompt the user whether to need to carry out " inserting ", if desired can then point out to use
Family imports sign mutation curve, and the curve is distributed across point discrete on time shaft when user imports, and user can select 3
The mode that discrete point constitutes full curve, respectively step, linear interpolation, smooth interpolation are planted, sign mutation curve can make certain list
In any time of emulation testing the sign mutation of expected setting occurs for individual or multiple signals, and can set the number of times of repetition with
And the frequency occurred, the signal not being configured is unaffected, and when importing sign mutation curve, automatic creation system can be examined
Whether the curve for looking into importing matches with the signal described by hardware configuration and CAN protocol before, and whether curve numerical value can use, inspection
The curve numerical value of transmission is looked into whether within the scope of hardware parameter configuration, CAN protocol.
2. hardware-in-loop simulation environmental model automatic creation system according to claim 1, it is characterised in that the hardware
Parameter configuration module (1) includes：
Information imports submodule, for importing initial information；
The information sub-module stored that submodule is connected is imported with information, for storing the initial information imported；And
The information inspection submodule that submodule and/or information sub-module stored are connected is imported with information, for entering to initial information
Row is checked.
3. hardware-in-loop simulation environmental model automatic creation system according to claim 2, it is characterised in that the physics
Model configuration module (2) includes：
Model selects submodule, for the physical model for selecting to need to test；
The model parameter for selecting submodule to be connected with model configures submodule, for matching somebody with somebody to selected physical model statistic property
Put；
The Virtual Controller pre-generatmg judging submodule that submodule is connected is configured with model parameter, for according to selected physics
Model automatic decision needs the Virtual Controller generated；And
The Virtual Controller parameter configuration prompting submodule being connected with Virtual Controller pre-generatmg judging submodule, for pointing out to make
User carries out the call parameter configuration before Virtual Controller generation.
4. hardware-in-loop simulation environmental model automatic creation system according to claim 3, it is characterised in that the multiple
It is single that method test interface includes virtual driving interface, system debug interface, full manual test interface, sign mutation curve respectively
Grouting socket and sign mutation curve are grouped two or more in grouting socket.
5. hardware-in-loop simulation environmental model automatic creation system according to claim 3, it is characterised in that the logic
Relating module (3) is associated including Engine Start Signal association, motor demand torque signal, motor speed feedback signal is associated,
One or more of cell voltage association, battery current association and the association of relay switch signal.
6. hardware-in-loop simulation environmental model automatic creation system according to claim 3, it is characterised in that described virtual
Controller pre-generatmg judging submodule is pointed out including power-on time prompting, controller initialization time, moment of torsion closed loop confirms prompting,
Speed closed loop confirms prompting and puts one or more of prompting soon.
7. hardware-in-loop simulation environmental model automatic creation system according to claim 3, it is characterised in that the physics
Model configuration module (2) also includes signal threshold values and monitors the submodule that reports an error, for aiding in user according to the initial information of importing
Choose whether that part signal is possessed threshold values monitors and quote errorlevel automatically.
8. a kind of hardware-in-loop simulation environmental model automatic generation method, it is characterised in that it is any based on claim 1-7
What the hardware-in-loop simulation environmental model automatic creation system described in was carried out, this method comprises the following steps：
S1：Host computer (8) is opened, initial information is imported to configure hardware parameter by hardware parameter configuration module (1), until raw
Into signal initial value；
S2：Physical model is selected by physical model configuration module (2), and physical model statistic property is configured, until generation
Virtual Controller；
S3：The signal initial value of generation and the Virtual Controller of generation are connected by logic association module (3), realize that logic is closed
Connection；
S4：According to the prompting after association, setup module (4) is injected by sign mutation curve and chooses whether to import sign mutation song
Line is simultaneously determined；
S5：The step of setting and model by parameter testing module (5) to each step are generated and parameter are checked；
S6：After inspection is errorless, start to generate final hardware-in-loop simulation environmental model by model generation module (6)；
S7：By compiling download module (7) model that compiling is generated automatically, and model is downloaded into hardware-in―the-loop test equipment
In real time in processing, follow-up work is carried out.
9. hardware-in-loop simulation environmental model automatic generation method according to claim 8, it is characterised in that in step S1
Described initial information includes test information and CAN protocol file.
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| CN105243015B (en) * | 2015-09-25 | 2021-02-26 | 惠州Tcl移动通信有限公司 | Method and system for automatically testing software |
| DE202016008563U1 (en) * | 2016-01-26 | 2018-07-03 | Dspace Digital Signal Processing And Control Engineering Gmbh | Configuration system for configuring a test device set up to test a controller |
| CN108241357B (en) * | 2017-10-18 | 2020-04-03 | 北京车和家信息技术有限公司 | Test environment model generation method and device, computer equipment and storage medium |
| CN108170902B (en) * | 2017-12-07 | 2021-07-16 | 中国航空工业集团公司西安航空计算技术研究所 | Hardware model detection method |
| CN110794813B (en) * | 2019-11-18 | 2022-06-07 | 上海顺试汽车科技有限公司 | In-loop real-time linkage testing method and system for electromechanical parts |
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