CN104794258A - Automobile hardware-in-loop simulation system - Google Patents
Automobile hardware-in-loop simulation system Download PDFInfo
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Abstract
The invention discloses an automobile hardware-in-loop simulation system. The automobile hardware-in-loop simulation system is developed on the basis of two kinds of universal software platforms of N1 including LabVIEW and Veristand and divided into an upper computer and a lower computer on the whole, wherein the lower computer particularly comprises hardware of various types of hardware resources and driving program of the hardware and an important engine model which are required by tests to be used for simulating the working states of an engine; Vristand related lower computer software serves as a bridge between an interface of the engine model and the corresponding hardware resources to achieve mutual communication and connection between the two, and the Vristand related lower computer software serves as an interface in communication with the upper computer to transmit related information of the engine model and other hardware to the upper computer; the upper computer comprises a human-computer interface and a hardware resource output port, and the human-computer interface of the upper computer is compiled by the LabVIEW, the good openness, the universality and the portability are achieved, and the development of follow-up projects is facilitated.
Description
Technical field
The present invention relates to automotive electronics measuring technology, particularly a kind of automobile hardware-in-loop simulation system.
Background technology
AUTOSAR (AUTomotive Open Systems Architecture, automobile open system framework, hereinafter referred to as AUTOSAR) be found in 2003, combine foundation by Global Auto manufacturer, parts suppliers and other electronics, semiconductor and software systems company, be devoted to for an opening, standardized software architecture is set up in automotive electronics exploitation.AUTOSAR is that complicated automotive electronics software systems provide the foundation software platform, in addition it further defines that a set of support is distributed, software architecture standard scheme on the automotive electronics software development methodology of function-driven and electronic control unit, to be applied to different automobile platforms, improve software repeated usage, reduce cost of development.Automotive electronics software based on AUTOSAR has good portability and extensibility, and can effectively realize reusing of software.AUTOSAR can reduce the construction cycle of software effectively, improves software quality, while guaranteeing product and service quality, improves development efficiency.
Hardware-in-loop simulation is a kind of Real-time Simulation Technology, it replaces the Real-Time Model of real time execution in the controlled device of reality or other system unit high-speed computer, the control module of system or other system unit are then connected to become a system with things and realistic model, test the function of ECU (Electrical Control Unit).Hardware-in-loop simulation system reduces the cost of development of engine electric-controlled system greatly, shortens the construction cycle.Therefore, hardware in loop simulation technique is more and more applied in the research and development of various control system, has vast potential for future development.
Hardware-in―the-loop test equipment both at home and abroad more representational have several as follows: the DeskHIL system of the hardware-in-loop simulation system LabCar of German ETAS company, the hardware-in-loop simulation system of dSPIACE company exploitation, the exploitation of Heng Run company.Their system software architecture is all have set of system of one's own, and open poor, software development depends on hardware, and hardware and software development intercouples.For user, secondary development is more difficult, and transplantability, extensibility and code reuse are poor, increase to a certain extent user test cycle, reduce testing efficiency.
LabVIEW is a kind of programming development environment, developed by American National instrument (NI) company, be similar to C and BASIC development environment, but the remarkable difference of LabVIEW and other computereses is: other computereses are all adopt text based language to produce code, and LabVIEW uses graphical author language G coding, the program of generation is the form of block diagram.
LabVIEW program is also known as virtual instrument, i.e. VI, its outward appearance and class of operation are similar to real physical apparatus (as oscillograph and multimeter).LabVIEW has a whole set of instrument for collection, analysis, display and storage data, and solution user writes possibility produced problem in coding process.
LabVIEW provides numerous input control and display control for creating user interface, i.e. front panel.Input control refers to the input medias such as knob, button, rotating disk.Display control refers to the output display device such as figure, pilot lamp.Create after user interface, various VI and structure can be added as code, thus control front panel object.Code is write in flow chart.LabVIEW not only can communicate with hardware such as data acquisition, vision, motion control apparatus, also can with the instrument communications such as GPIB, PXI, VXI, RS232 and RS485.
NI VeriStand is a kind of software environment configuring real-time testing application program.Namely the NI VerStand bought namely contributes to the Run-time engine of configuration pin to polycaryon processor, to perform following task:
Simulation, numeral, communication bus, and based on the I/O interface of field programmable gate array (FPGA)
Can trigger, multifile data record
Real-time excitation generates
Calculate passage
Event early warning and early warning responder
NI VeriStand can also import control algolithm from NI LabVIEW software and third party's environment, realistic model and other tasks.When can use operation, editable user interface monitors these tasks, and mutual with it, and this interface comprises that many assignment, alarm monitoring, I/O calibrate, the effective tool of stimulation arrangement editor for forcing.The use of NI VeriStand does not need to be grasped programming knowledge, but can carry out self-defined and expansion in multiple different software environment, as NILabVIEW, ANSI C/C++, and other modeling and coding environment.
NI TestStand is the test execution management software that can perform immediately, for tissue, controls and performs robotization prototype, checking or manufacturing test system.Be added in the test procedure write in LabVIEW, LabWindows/CVI, Visual C/C++, VisualBasic.NET and C#, use NI TestStand fast creation cycle tests.NI TestStand is based on a high-speed multithreading enforcement engine, and its performance is enough to meet test processes Capability Requirement the most harsh.The function of NITestStand is completely defined by the user.For meeting particular demands, function correction and improvement can be carried out to it voluntarily, such as customization operations interface, generate self-defined report or amendment sequence execution requirements etc.By NI TestStand, energy can be concentrated on special test request by you, and NI TestStand then manages common sequence, execution and report task.NITestStand can be used for exploitation, performs and disposes testing system software.In addition, the test code module that user also can use any programming language to write builds cycle tests.Cycle tests can be specified and be performed stream, generate test report, carry out data-base recording and connect other Corporation system.Finally, by easy-to-use operation interface, test macro can be disposed aborning.
Simulink is a kind of Visual Simulation Tools in MATLAB, it is a kind of block diagram design environment based on MATLAB, be the software package realizing Modelling of Dynamic System, emulation and analysis, be widely used in the modeling and simulation of linear system, nonlinear system, digital control and digital signal processing.Simulink can carry out modeling with continuous sampling time, discrete sampling time or two kinds of sampling times mixed, and it also supports multirate system, and the different piece namely in system has different sampling rates.In order to create dynamic system model, Simulink provides the graphical user interface (GUI) of a Modling model calcspar, this constructive process only need be clicked and drag mouse action and just can complete, it provide a kind of faster, straightforward mode, and user can see the simulation result of system immediately.
Simulink is for dynamic system and the multi-domain simulation of embedded system and the design tool based on model.To various time-varying system, comprise communication, control, signal transacting, Video processing and image processing system, Simulink provides interactive graphics environment and customizable modular storehouse is designed it, emulates, performs and tested..
Framework other products on Simulink basis extend Simulink Multi-disciplinary Modeling function, also provide the corresponding tool for designing, performing, verify and confirm task.Simulink and MATLAB is closely integrated, directly can access a large amount of instrument of MATLAB to carry out the definition of algorithm research and development, the analysis of emulation and visual, the establishment of batch processing script, the customization of modeling environment and signal parameter and test data.
Simulink be one towards multiple domain emulation and with based on the frame module map environment of modelling.The follow-on test of the design of its back-up system level, emulation, real time workshop and embedded system and checking.
Simulink provide graphic editor, the customized module storehouse that can customize and and solver, can Modelling of Dynamic System and emulation be carried out.By integrated with MATLAB, can not only by MATLAB algorithm fusion to being incorporated in model, and simulation result can be exported to MATLAB and be further analyzed.
RTW (Real-Time Workshop) is the robotization Code Generator that MATLAB provides, and Simulink model framework chart can be converted into the C code of standard by it.Engine is the calling interface of the C language that MATLAB provides, by open this engine can commands calls as the MATLAB resource of Simulink and so on.RTW is open, open-ended structure, supports fixed point and floating-point, by interactive mode download parameters to external hardware, supports the emulation of continuous system, discrete system, commingled system and asynchronous system, single task, multitask and asynchronous interrupt.
Summary of the invention
The technical problem to be solved in the present invention is to provide a kind of automobile hardware-in-loop simulation system, while having hardware-in-loop simulation and test function, has had again open feature concurrently, and simultaneously the transplantability of software, extensibility and code reuse are relatively good.
For solving the problems of the technologies described above, automobile hardware-in-loop simulation system provided by the invention, comprises host computer, slave computer;
Described slave computer, comprises NI real-time controller, NI hardware board, Veristand real-time software service platform, engine mockup dynamic link library;
Described Veristand real-time software service platform, carries out exchanges data respectively with described engine mockup dynamic link library, NI hardware board; Exchanges data is realized by described Veristand RT software service platform between NI hardware board and engine mockup dynamic link library;
Described host computer, is provided with VeriStand software platform, LabVIEW software platform, Matlab Simulink software platform;
Described Matlab Simulink software platform, sets up engine mockup for client;
Described VeriStand software platform, for client by the Matlab of VeriStand target language compiler control MatlabSimulink software platform RTW CMOS macro cell engine mockup dynamic link library, download to real time execution in slave computer;
Described VeriStand software platform, also set up the data Map between NI hardware board and engine mockup for user, realize data processing simultaneously, and run on Veristand real-time software service platform in the detection control program that user set and engine mockup parameter downloads to slave computer;
Described LabVIEW software platform, sets up human-computer interaction interface for user, and display engine mockup ruuning situation, carries out the adjustment of engine mockup on-line parameter in real time, setting detection control program.
Preferably, described LabVIEW software platform, also for user according to different testing requirements, develop corresponding test cases.
Preferably, described LabVIEW software platform, also carries out calling and managing for other platforms.
Preferably, described LabVIEW software platform, also carries out calling and managing for Teststand software platform.
Preferably, described NI hardware board, comprises input/output module, FPGA module, communication module and driving thereof.
Preferably, described host computer, comprises hardware resource delivery outlet;
Described hardware resource delivery outlet, be connected with control unit of engine to be measured by hardware board resource, with the hardware signal that control hardware board resource provides control unit of engine analog operation environment to be measured to need, also the signal of control unit of engine is connected in load or testing apparatus by control hardware board resource simultaneously.
Automobile hardware-in-loop simulation system of the present invention is a automotive electronics testing software framework based on the general Development of Software Platform of LabVIEW and Veristand two kinds of NI, should be divided into upper and lower computer two parts on the whole at ring test device software framework.Slave computer specifically includes hardware and the driver thereof of the various hardware resources needed for test, further comprises very important engine mockup, is used for the duty of simulated engine.The program of lower computer that Veristand is relevant, will as the bridge between the interface of engine mockup and the hardware resource of correspondence, make its mutual communication and connect, and as the interface with upper machine communication, the relevant information of engine mockup and other hardware being passed to host computer.Host computer includes man-machine interface and hardware resource delivery outlet, the hardware signal that hardware resource delivery outlet control hardware board resource provides ECU analog operation environment to be measured to need, also the signal of ECU to be measured is connected in load or testing apparatus by control hardware board resource simultaneously.The man-machine interface of host computer is LabVIEW compiling simultaneously, has good opening, universal and transplantability, facilitates the exploitation of subsequent project.
Accompanying drawing explanation
In order to be illustrated more clearly in technical scheme of the present invention, below the accompanying drawing that will use required for the present invention is briefly described, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
Fig. 1 is automobile hardware-in-loop simulation system one embodiment schematic diagram of the present invention.
Embodiment
Below in conjunction with accompanying drawing, carry out clear, complete description to the technical scheme in the present invention, obviously, described embodiment is a part of embodiment of the present invention, instead of whole embodiments.Based on the embodiment in the present invention, other embodiments all that those of ordinary skill in the art obtain under the prerequisite not making creative work, all belong to the scope of protection of the invention.
Embodiment one
Automobile hardware-in-loop simulation system, as shown in Figure 1, comprises host computer, slave computer;
Described slave computer, comprises NI real-time controller, NI hardware board, Veristand real-time software service platform, engine mockup dynamic link library;
Described Veristand real-time software service platform, carries out exchanges data respectively with described engine mockup dynamic link library, NI hardware board; Exchanges data is realized by described Veristand RT software service platform between NI hardware board and engine mockup dynamic link library;
Described host computer, is provided with VeriStand software platform, LabVIEW software platform, Matlab Simulink software platform;
Described Matlab Simulink software platform, sets up engine mockup for client;
Described VeriStand software platform, for client by the Matlab of VeriStand target language compiler control MatlabSimulink software platform RTW CMOS macro cell engine mockup dynamic link library, download to real time execution in slave computer;
Described VeriStand software platform, also set up the data Map (figure) between NI hardware board and engine mockup for user, and run on Veristand real-time software service platform in the detection control program that user set and engine mockup parameter downloads to slave computer;
Described LabVIEW software platform, sets up human-computer interaction interface for user, and display engine mockup ruuning situation, carries out the adjustment of engine mockup on-line parameter in real time, setting detection control program.
The automobile hardware-in-loop simulation system of embodiment one is a automotive electronics testing software framework based on the general Development of Software Platform of LabVIEW and Veristand two kinds of NI, should be divided into upper and lower computer two parts on the whole at ring test device software framework.Slave computer specifically includes hardware and the driver thereof of the various hardware resources needed for test, further comprises very important engine mockup, is used for the duty of simulated engine.The program of lower computer that Veristand is relevant, will as the bridge between the interface of engine mockup and the hardware resource of correspondence, make its mutual communication and connect, and as the interface with upper machine communication, the relevant information of engine mockup and other hardware being passed to host computer.Host computer includes man-machine interface and hardware resource delivery outlet, the hardware signal that hardware resource delivery outlet control hardware board resource provides ECU analog operation environment to be measured to need, also the signal of ECU to be measured is connected in load or testing apparatus by control hardware board resource simultaneously.The man-machine interface of host computer is LabVIEW compiling simultaneously, has good opening, universal and transplantability, facilitates the exploitation of subsequent project.
The automobile hardware-in-loop simulation system of embodiment one, adopt the common hardware board that NI company produces, and NI company exploitation develop with the software platform of hardware board compatibility, while there is hardware-in-loop simulation and test function, have again open feature concurrently, the transplantability of software simultaneously, extensibility and code reuse relatively good, reduce the cycle of subscriber test equipment exploitation to a great extent, improve testing efficiency, also the maintenance of post facility is conducive to, and can according to new demand, respond faster, cost of development will be greatly reduced.
The automobile hardware-in-loop simulation system of embodiment one, can reach the functional effect of AUTOSAR.
Embodiment two
Based on the automobile hardware-in-loop simulation system of embodiment one, described LabVIEW software platform, also for user according to different testing requirements, develop corresponding test cases (Test Case).
Preferably, described LabVIEW software platform, can also supply other platforms (such as Teststand software platform) to carry out calling and managing.
Preferably, described NI hardware board, comprises input and output (IO) module, FPGA (Field ProgrammableGate Array, field programmable gate array) module, communication module and driving thereof.
Preferably, described host computer, comprises hardware resource delivery outlet;
Described hardware resource delivery outlet, be connected with control unit of engine to be measured (ECU) by hardware board resource, with the hardware signal that control hardware board resource provides control unit of engine to be measured (ECU) analog operation environment to need, also the signal of control unit of engine (ECU) is connected in load or testing apparatus by control hardware board resource simultaneously.
The foregoing is only preferred embodiment of the present invention, not in order to limit the present invention, within the spirit and principles in the present invention all, any amendment made, equivalent replacement, improvement etc., all should be included within the scope of protection of the invention.
Claims (6)
1. an automobile hardware-in-loop simulation system, is characterized in that, comprises host computer, slave computer;
Described slave computer, comprises NI real-time controller, NI hardware board, Veristand real-time software service platform, engine mockup dynamic link library;
Described Veristand real-time software service platform, carries out exchanges data respectively with described engine mockup dynamic link library, NI hardware board; Exchanges data is realized by described Veristand RT software service platform between NI hardware board and engine mockup dynamic link library;
Described host computer, is provided with VeriStand software platform, LabVIEW software platform, Matlab Simulink software platform;
Described Matlab Simulink software platform, sets up engine mockup for client;
Described VeriStand software platform, for client by the Matlab of VeriStand target language compiler control MatlabSimulink software platform RTW CMOS macro cell engine mockup dynamic link library, download to real time execution in slave computer;
Described VeriStand software platform, also set up the data Map between NI hardware board and engine mockup for user, realize data processing simultaneously, and run on Veristand real-time software service platform in the detection control program that user set and engine mockup parameter downloads to slave computer;
Described LabVIEW software platform, sets up human-computer interaction interface for user, and display engine mockup ruuning situation, carries out the adjustment of engine mockup on-line parameter in real time, setting detection control program.
2. automobile hardware-in-loop simulation system according to claim 1, is characterized in that,
Described LabVIEW software platform, also for user according to different testing requirements, develop corresponding test cases.
3. automobile hardware-in-loop simulation system according to claim 1, is characterized in that,
Described LabVIEW software platform, also carries out calling and managing for other platforms.
4. automobile hardware-in-loop simulation system according to claim 1, is characterized in that,
Described LabVIEW software platform, also carries out calling and managing for Teststand software platform.
5. automobile hardware-in-loop simulation system according to claim 1, is characterized in that,
Described NI hardware board, comprises input/output module, FPGA module, communication module and driving thereof.
6. automobile hardware-in-loop simulation system according to claim 1, is characterized in that,
Described host computer, comprises hardware resource delivery outlet;
Described hardware resource delivery outlet, be connected with control unit of engine to be measured by hardware board resource, with the hardware signal that control hardware board resource provides control unit of engine analog operation environment to be measured to need, also the signal of control unit of engine is connected in load or testing apparatus by control hardware board resource simultaneously.
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| CN108205263A (en) * | 2016-12-16 | 2018-06-26 | 帝斯贝思数字信号处理和控制工程有限公司 | For creating the method for the model compatible with simulator |
| CN109100954A (en) * | 2018-08-06 | 2018-12-28 | 大连理工大学 | A kind of controller hardware assemblage on-orbit platform method for building up |
| CN109342067A (en) * | 2018-08-31 | 2019-02-15 | 西安航天动力技术研究所 | A kind of solid rocket ramjet test macro |
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| CN106324572A (en) * | 2016-08-24 | 2017-01-11 | 湖北三江航天红峰控制有限公司 | GPS simulator and realizing method thereof |
| CN106815144A (en) * | 2016-12-08 | 2017-06-09 | 中国北方发动机研究所(天津) | A kind of diesel engine electric control system automatic testing arrangement for softwares and method |
| CN108205263A (en) * | 2016-12-16 | 2018-06-26 | 帝斯贝思数字信号处理和控制工程有限公司 | For creating the method for the model compatible with simulator |
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| CN109100954A (en) * | 2018-08-06 | 2018-12-28 | 大连理工大学 | A kind of controller hardware assemblage on-orbit platform method for building up |
| CN109342067A (en) * | 2018-08-31 | 2019-02-15 | 西安航天动力技术研究所 | A kind of solid rocket ramjet test macro |
| CN109614704A (en) * | 2018-12-11 | 2019-04-12 | 安徽江淮汽车集团股份有限公司 | A kind of ADAS automatization test system and method |
| CN110333730A (en) * | 2019-08-12 | 2019-10-15 | 安徽江淮汽车集团股份有限公司 | Verification method, platform and the storage medium of automatic Pilot algorithm expectation function safety |
| CN110333730B (en) * | 2019-08-12 | 2020-08-21 | 安徽江淮汽车集团股份有限公司 | Verification method, platform and storage medium for safety of expected function of automatic driving algorithm |
| CN110532716A (en) * | 2019-09-04 | 2019-12-03 | 重庆大学 | A kind of Numerical Simulation of Working Process in Gasoline Engine system |
| CN110794708A (en) * | 2019-10-23 | 2020-02-14 | 南京理工大学 | Spray rod system testing method based on VeriStation and Simulink combined simulation |
| CN110794708B (en) * | 2019-10-23 | 2022-06-24 | 南京理工大学 | Spray rod system testing method based on VeriStation and Simulink combined simulation |
| CN113077735A (en) * | 2020-01-06 | 2021-07-06 | 广州汽车集团股份有限公司 | Method, device and system for testing vehicle-mounted display equipment |
| CN113077735B (en) * | 2020-01-06 | 2023-11-17 | 广州汽车集团股份有限公司 | Test method, device and system of vehicle-mounted display equipment |
| CN111487062A (en) * | 2020-04-21 | 2020-08-04 | 东风汽车集团有限公司 | Throttle valve automatic calibration system and method based on hardware-in-the-loop |
| CN112949234A (en) * | 2021-04-14 | 2021-06-11 | 山东高云半导体科技有限公司 | Software modeling method and device of FPGA physical model |
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