CN105897485B - A kind of safe analogy method and system of CAN bus based process - Google Patents
A kind of safe analogy method and system of CAN bus based process Download PDFInfo
- Publication number
- CN105897485B CN105897485B CN201610392458.5A CN201610392458A CN105897485B CN 105897485 B CN105897485 B CN 105897485B CN 201610392458 A CN201610392458 A CN 201610392458A CN 105897485 B CN105897485 B CN 105897485B
- Authority
- CN
- China
- Prior art keywords
- data
- real
- real time
- run
- time
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L41/00—Arrangements for maintenance, administration or management of data switching networks, e.g. of packet switching networks
- H04L41/14—Network analysis or design
- H04L41/145—Network analysis or design involving simulating, designing, planning or modelling of a network
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
- H04L12/40006—Architecture of a communication node
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
- H04L2012/40208—Bus networks characterized by the use of a particular bus standard
- H04L2012/40215—Controller Area Network CAN
Landscapes
- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Management, Administration, Business Operations System, And Electronic Commerce (AREA)
Abstract
The safe analogy method of CAN bus based process, key step include: the real time data in the CAN bus for acquire real system；The temporal information of real-time messages and real time data in the CAN bus of real system and real time data is encapsulated as real time data packet；Real system Run-time scenario model is defined, the process segment of the working site of real system is formed；According to the combination of state fragment or state fragment, real time data packet is combined, forms Run-time scenario data；According to the simulation process of simulation system, Sequential output Run-time scenario data or response simulation process export corresponding Run-time scenario data.Control flow in live truthful data and simulation control strategy and true control process is decomposed and is formed matching relationship, so that strategy step, control flow are formed the data packet, process and scene of different details and range by the playback matching of true field data packet.Simplify the data fusion and Processing Interface in simulation process.It further include a kind of safe simulation system.
Description
Technical field
The present invention relates to a kind of signal imitation method and system, more particularly to a kind of signal imitation of presence states signal
Method and system.
Background technique
Simulated training system is the simulation to real system, it is common practice to by the control flow of real system and control
Strategy is realized one time on simulation system host by software programming again.This will lead to the workload of programming, test, verification
Greatly, at high cost.On the other hand, due to causing information to be distributed during realizing in software development process to control strategy code,
It is unfavorable for the secrecy of control strategy in real world control system.
Such as application No. is 201410161859.0, applying date 2014.04.22, entitled " multifunctional motor-driven vapour
The patent document of vehicle CAN bus mobile unit simulator ", including usb circuit, non-isolation DC-DC Switching Power Supply, single-chip microcontroller
And its peripheral circuit, isolation DC-DC Switching Power Supply, storage and display circuit, 2 tunnel CAN interface circuits；The single-chip microcontroller point
Not with usb circuit, non-isolation DC-DC Switching Power Supply, storage and display circuit, 2 tunnel CAN interface circuit connections；Institute
State usb circuit respectively with non-isolation DC-DC Switching Power Supply, be isolated DC-DC Switching Power Supply connection；The usb circuit
For obtaining working power and realizing the communication connection with PC machine；The isolation DC-DC Switching Power Supply and 2 tunnel CAN interfaces
Circuit connection is powered for 2 tunnel CAN interface circuits；Non-isolation DC-DC the Switching Power Supply is the simulator except 2 road CAN are total
Remaining circuit power supply other than interface circuit.The single-chip microcontroller is mainly used for running the device model and BMS of Vehicular charger
Device model；The device model of the Vehicular charger and the device model of BMS are by mode input source, model parameter, model
Data structure, model algorithm and model export Su Zucheng；Mode input source, model parameter and model output place are matched by PC machine
It sets, and is stored in storage circuit；Model algorithm is run according to the sampling period of setting, obtains data from mode input source,
After being calculated according to the corresponding equation of device model and model parameter, from model output place output as a result, device model is in CAN
Outputting and inputting for bus is transmitted according to SAEJ1939 normal data packet.The single-chip microcontroller is directed on piece USB peripheral and piece
External buffer area is arranged in the sending and receiving data interrupt thread of upper CAN peripheral hardware, constitutes level 2 buffering plot structure, make on piece USB peripheral and
The control circuit of on piece CAN peripheral hardware, peripheral hardware internal buffer, interrupt thread, external buffer area, main thread form concatenated two-stage
Producer-consumer model structure, single-chip microcontroller peripheral hardware and CPU can concurrent workings.
Only the simulation of single mobile unit just needs complicated hardware and software design, considerably increases analog simulation
Time cost and construction cost.
Summary of the invention
The object of the present invention is to provide a kind of safe analogy methods of CAN bus based process, solve existing signal mode
During quasi- the technical issues of analogy method high cost low-security.
It is a further object to provide a kind of safe simulation systems of CAN bus based process, solve existing
The technical issues of signal imitation system high cost low-security.
The safe analogy method of CAN bus based process of the invention, key step include:
S01 acquires the real time data in the CAN bus of real system；
S02 encapsulates the temporal information of real-time messages and real time data in the CAN bus of real system and real time data
For real time data packet；
S03 defines real system Run-time scenario model, forms the process segment of the working site of real system；
S04 combines real time data packet according to the combination of state fragment or state fragment, forms Run-time scenario data；
S05, according to the simulation process of simulation system, Sequential output Run-time scenario data or response simulation process, output phase
The Run-time scenario data answered.
It is one or more of further comprising the steps of in the step s01:
Acquire the temporal information of the real time data in the CAN bus of real system；
Acquire the real-time messages in the CAN bus of real system.
It is one or more of further comprising the steps of in the step s02:
The temporal information for encapsulating real time data and real time data is first kind real time data packet；
The temporal information for encapsulating real-time messages and real time data is Second Type real time data packet；
It encapsulates real-time messages and real time data is third type real time data packet.
It is one or more of further comprising the steps of in the step s03:
Define the single process segment of working site；
Define the continuous process segment of working site；
Define the complex flow segment of working site；
Define the continuous complex flow segment of working site；
The trigger flow segment of working site；
The abnormal process segment of working site.
It is one or more of further comprising the steps of in the step s04:
Form single Run-time scenario data；
Form concurrent Run-time scenario data；
Form triggering Run-time scenario data；
Form misoperation contextual data.
It is one or more of further comprising the steps of in the step s05:
According to simulation process, the process segment or response simulation process of Sequential output Run-time scenario data, output is corresponding
The process segment of Run-time scenario data；
According to simulation process, the real time data packet or response simulation process, output phase of Sequential output Run-time scenario data are answered
Run-time scenario data real time data packet.
The safe simulation system of CAN bus based process of the invention, including on-site data gathering device, acquisition data
Packaging system, data scene definition device, data scene packaging system and simulated scenario gatherer, in which:
On-site data gathering device, the real time data in CAN bus for acquiring real system；Real time data includes control
Data processed and status data；
Acquire data encapsulation apparatus, real-time messages and real time data in the CAN bus by real system and in real time
The temporal information of data is encapsulated as real time data packet；
Data scene definition device forms the working site of real system for defining real system Run-time scenario model
Process segment；
Data scene packaging system combines real time data packet for the combination according to state fragment or state fragment, is formed
Run-time scenario data；
Simulated scenario gatherer for the simulation process according to simulation system, Sequential output Run-time scenario data, or is rung
Simulation process is answered, corresponding Run-time scenario data are exported.
Further include that following device is one or more in the data acquisition device:
Acquire the device of the temporal information of the real time data in the CAN bus of real system；
Acquire the device of the real-time messages in the CAN bus of real system.
Further include one or more following devices in the acquisition data encapsulation apparatus:
The temporal information for encapsulating real time data and real time data is the device of first kind real time data packet；
The temporal information for encapsulating real-time messages and real time data is the device of Second Type real time data packet；
It encapsulates real-time messages and real time data is the device of third type real time data packet.
Further include that following device is one or more in the data scene definition device:
Define the device of the single process segment of working site；
Define the device of the continuous process segment of working site；
Define the device of the complex flow segment of working site；
Define the device of the continuous complex flow segment of working site；
The device of the trigger flow segment of working site；
The device of the abnormal process segment of working site.
Further include that following device is one or more in data scene packaging system:
Form the device of single Run-time scenario data；
Form the device of concurrent Run-time scenario data；
Form the device of triggering Run-time scenario data；
Form the device of misoperation contextual data.
Further include that following device is one or more in simulated scenario gatherer:
According to simulation process, the process segment or response simulation process of Sequential output Run-time scenario data, output is corresponding
The device of the process segment of Run-time scenario data；
According to simulation process, the real time data packet or response simulation process, output phase of Sequential output Run-time scenario data are answered
Run-time scenario data real time data packet device.
The safe analogy method of CAN bus based process of the invention, by live truthful data and simulation control strategy
Matching relationship is decomposed and formed with the control flow in true control process, so that strategy step, control flow are by really existing
The playback matching of field data packet forms the data packet, process and scene of different details and range.Simplify existing simple software simulation
Data fusion and Processing Interface in the process.Development cycle and the safety risks of software simulation are reduced simultaneously.
The safe simulation system of CAN bus based process of the invention shows strategy step, control flow with true
Field data packet directly matches, and forms the data packet, process and scene of different details and range.Greatly simplify module, process and
The complexity with coordination data is called between system, simplifies data-interface structure, reduces interference data and wrong data is formed
Probability, improve the data reliability of flowsheeting.
Detailed description of the invention
Fig. 1 is the flow diagram of the safe analogy method of CAN bus based process of the invention；
Fig. 2 is the configuration diagram of the safe simulation system of CAN bus based process of the invention.
Specific embodiment
Detailed description of the preferred embodiments with reference to the accompanying drawing.
As shown in Figure 1, the key step of the safe analogy method of the CAN bus based process of the present embodiment includes:
S01 acquires the real time data in the CAN bus of real system；Real time data includes at least control data and state
Data；
S02 encapsulates the temporal information of real-time messages and real time data in the CAN bus of real system and real time data
For real time data packet；
S03 defines real system Run-time scenario model, forms the process segment of the working site of real system；
S04 combines real time data packet according to the combination of state fragment or state fragment, forms Run-time scenario data；
S05, according to the simulation process of simulation system, Sequential output Run-time scenario data or response simulation process, output phase
The Run-time scenario data answered.
It is one or more of further comprising the steps of in step s01:
Acquire the temporal information of the real time data in the CAN bus of real system；
Acquire the real-time messages in the CAN bus of real system；Real-time messages include at least control message and status message.
It is one or more of further comprising the steps of in step s02:
The temporal information for encapsulating real time data and real time data is first kind real time data packet；
The temporal information for encapsulating real-time messages and real time data is Second Type real time data packet；
It encapsulates real-time messages and real time data is third type real time data packet.
It is one or more of further comprising the steps of in step s03:
Define the single process segment of working site；
Define the continuous process segment of working site；
Define the complex flow segment of working site；
Define the continuous complex flow segment of working site；
The trigger flow segment of working site；
The abnormal process segment of working site.
It is one or more of further comprising the steps of in step s04:
Form single Run-time scenario data；
Form concurrent Run-time scenario data；
Form triggering Run-time scenario data；
Form misoperation contextual data.
It is one or more of further comprising the steps of in step s05:
According to simulation process, the process segment or response simulation process of Sequential output Run-time scenario data, output is corresponding
The process segment of Run-time scenario data；
According to simulation process, the real time data packet or response simulation process, output phase of Sequential output Run-time scenario data are answered
Run-time scenario data real time data packet.
The safe analogy method of CAN bus based process of the invention, by live truthful data and simulation control strategy
Matching relationship is decomposed and formed with the control flow in true control process, so that strategy step, control flow are by really existing
The playback matching of field data packet forms the data packet, process and scene of different details and range.Simplify existing simple software simulation
Data fusion and Processing Interface in the process.Development cycle and the safety risks of software simulation are reduced simultaneously.
As shown in Fig. 2, correspondingly, the safe simulation system of the CAN bus based process of the present embodiment includes live number
According to acquisition device 01, acquisition data encapsulation apparatus 02, data scene definition device 03, data scene packaging system 04 and simulation yard
Scape gatherer 05, in which:
On-site data gathering device 01, the real time data in CAN bus for acquiring real system；Real time data includes
Control data and status data；
Acquire data encapsulation apparatus 02, real-time messages and real time data and reality in the CAN bus by real system
When data temporal information be encapsulated as real time data packet；
Data scene definition device 03, for defining real system Run-time scenario model, the work for forming real system is existing
The process segment of field；
Data scene packaging system 04 combines real time data packet, shape for the combination according to state fragment or state fragment
At Run-time scenario data；
Simulated scenario gatherer 05, for the simulation process according to simulation system, Sequential output Run-time scenario data, or
Response simulation process exports corresponding Run-time scenario data.
Further include that following device is one or more in data acquisition device 01:
Acquire the device of the temporal information of the real time data in the CAN bus of real system；
Acquire the device of the real-time messages in the CAN bus of real system.
Further include one or more following devices in acquisition data encapsulation apparatus 02:
The temporal information for encapsulating real time data and real time data is the device of first kind real time data packet；
The temporal information for encapsulating real-time messages and real time data is the device of Second Type real time data packet；
It encapsulates real-time messages and real time data is the device of third type real time data packet.
Further include that following device is one or more in data scene definition device 03:
Define the device of the single process segment of working site；
Define the device of the continuous process segment of working site；
Define the device of the complex flow segment of working site；
Define the device of the continuous complex flow segment of working site；
The device of the trigger flow segment of working site；
The device of the abnormal process segment of working site.
Further include that following device is one or more in data scene packaging system 04:
Form the device of single Run-time scenario data；
Form the device of concurrent Run-time scenario data；
Form the device of triggering Run-time scenario data；
Form the device of misoperation contextual data.
Further include that following device is one or more in simulated scenario gatherer 05:
According to simulation process, the process segment or response simulation process of Sequential output Run-time scenario data, output is corresponding
The device of the process segment of Run-time scenario data；
According to simulation process, the real time data packet or response simulation process, output phase of Sequential output Run-time scenario data are answered
Run-time scenario data real time data packet device.
The safe simulation system of CAN bus based process of the invention shows strategy step, control flow with true
Field data packet directly matches, and forms the data packet, process and scene of different details and range.Greatly simplify module, process and
The complexity with coordination data is called between system, simplifies data-interface structure, reduces interference data and wrong data is formed
Probability, improve the data reliability of flowsheeting.
The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto,
In the technical scope disclosed by the present invention, any changes or substitutions that can be easily thought of by anyone skilled in the art,
It should be covered by the protection scope of the present invention.Therefore, protection scope of the present invention should be with the protection model of claims
Subject to enclosing.
Claims (8)
1. the safe analogy method of CAN bus based process, key step include:
S01 acquires the real time data in the CAN bus of real system；It is one of further comprising the steps of in the step s01
Or it is several:
Acquire the temporal information of the real time data in the CAN bus of real system；
Acquire the real-time messages in the CAN bus of real system；
The temporal information of real-time messages and real time data in the CAN bus of real system and real time data is encapsulated as reality by s02
When data packet；
S03 defines real system Run-time scenario model, forms the process segment of the working site of real system；
S04 combines real time data packet according to the combination of state fragment or state fragment, forms Run-time scenario data；
S05, according to the simulation process of simulation system, Sequential output Run-time scenario data or response simulation process, output is accordingly
Run-time scenario data.
Further include 2. the safe analogy method of CAN bus based process as described in claim 1, in the step s02 with
One or more of lower step:
The temporal information for encapsulating real time data and real time data is first kind real time data packet；
The temporal information for encapsulating real-time messages and real time data is Second Type real time data packet；
It encapsulates real-time messages and real time data is third type real time data packet.
Further include 3. the safe analogy method of CAN bus based process as described in claim 1, in the step s03 with
One or more of lower step:
Define the single process segment of working site；
Define the continuous process segment of working site；
Define the complex flow segment of working site；
Define the continuous complex flow segment of working site；
The trigger flow segment of working site；
The abnormal process segment of working site.
Further include 4. the safe analogy method of CAN bus based process as described in claim 1, in the step s04 with
One or more of lower step:
Form single Run-time scenario data；
Form concurrent Run-time scenario data；
Form triggering Run-time scenario data；
Form misoperation contextual data.
Further include 5. the safe analogy method of CAN bus based process as described in claim 1, in the step s05 with
One or more of lower step:
According to simulation process, the process segment or response simulation process of Sequential output Run-time scenario data export corresponding operation
The process segment of contextual data；
According to simulation process, the real time data packet or response simulation process of Sequential output Run-time scenario data export corresponding fortune
The real time data packet of row contextual data.
6. the safe simulation system of CAN bus based process, including on-site data gathering device (01), acquisition data encapsulation dress
Set (02), data scene definition device (03), data scene packaging system (04) and simulated scenario gatherer (05), in which:
On-site data gathering device (01), the real time data in CAN bus for acquiring real system；On-site data gathering dress
Set in (01) further includes that following device is one or more:
Acquire the device of the temporal information of the real time data in the CAN bus of real system；
Acquire the device of the real-time messages in the CAN bus of real system；
It acquires data encapsulation apparatus (02), real-time messages and real time data in the CAN bus by real system and in real time
The temporal information of data is encapsulated as real time data packet；
Data scene definition device (03) forms the working site of real system for defining real system Run-time scenario model
Process segment；
Data scene packaging system (04) combines real time data packet for the combination according to state fragment or state fragment, is formed
Run-time scenario data；
Simulated scenario gatherer (05) for the simulation process according to simulation system, Sequential output Run-time scenario data, or is rung
Simulation process is answered, corresponding Run-time scenario data are exported.
7. the safe simulation system of CAN bus based process as claimed in claim 6, the acquisition data encapsulation apparatus
(02) further include one or more following devices in:
The temporal information for encapsulating real time data and real time data is the device of first kind real time data packet；
The temporal information for encapsulating real-time messages and real time data is the device of Second Type real time data packet；
Encapsulation real-time messages and real time data are the device of third type real time data packet.
8. the safe simulation system of CAN bus based process as claimed in claim 6, the data scene definition device
(03) further include that following device is one or more in:
Define the device of the single process segment of working site；
Define the device of the continuous process segment of working site；
Define the device of the complex flow segment of working site；
Define the device of the continuous complex flow segment of working site；
The device of the trigger flow segment of working site；
The device of the abnormal process segment of working site；
Further include that following device is one or more in data scene packaging system (04):
Form the device of single Run-time scenario data；
Form the device of concurrent Run-time scenario data；
Form the device of triggering Run-time scenario data；
Form the device of misoperation contextual data；
Further include that following device is one or more in simulated scenario gatherer (05):
According to simulation process, the process segment or response simulation process of Sequential output Run-time scenario data export corresponding operation
The device of the process segment of contextual data；
According to simulation process, the real time data packet or response simulation process of Sequential output Run-time scenario data export corresponding fortune
The device of the real time data packet of row contextual data.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610392458.5A CN105897485B (en) | 2016-06-06 | 2016-06-06 | A kind of safe analogy method and system of CAN bus based process |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610392458.5A CN105897485B (en) | 2016-06-06 | 2016-06-06 | A kind of safe analogy method and system of CAN bus based process |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105897485A CN105897485A (en) | 2016-08-24 |
| CN105897485B true CN105897485B (en) | 2019-04-19 |
Family
ID=56710844
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610392458.5A Active CN105897485B (en) | 2016-06-06 | 2016-06-06 | A kind of safe analogy method and system of CAN bus based process |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105897485B (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8213321B2 (en) * | 2007-02-01 | 2012-07-03 | Deere & Company | Controller area network condition monitoring and bus health on in-vehicle communications networks |
| CN102890651A (en) * | 2011-07-19 | 2013-01-23 | 阿里巴巴集团控股有限公司 | Method and device for testing scene data |
| CN103487276A (en) * | 2013-10-10 | 2014-01-01 | 北京航天发射技术研究所 | State monitoring and fault diagnosis universal platform based on CAN bus |
| CN103914353A (en) * | 2014-04-17 | 2014-07-09 | 北京航空航天大学 | Combined test method for combining software reliability tests with hardware reliability tests |
| CN105320636A (en) * | 2015-09-29 | 2016-02-10 | 北京航天发射技术研究所 | CAN bus data equivalent apparatus and data processing method |
-
2016
- 2016-06-06 CN CN201610392458.5A patent/CN105897485B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8213321B2 (en) * | 2007-02-01 | 2012-07-03 | Deere & Company | Controller area network condition monitoring and bus health on in-vehicle communications networks |
| CN102890651A (en) * | 2011-07-19 | 2013-01-23 | 阿里巴巴集团控股有限公司 | Method and device for testing scene data |
| CN103487276A (en) * | 2013-10-10 | 2014-01-01 | 北京航天发射技术研究所 | State monitoring and fault diagnosis universal platform based on CAN bus |
| CN103914353A (en) * | 2014-04-17 | 2014-07-09 | 北京航空航天大学 | Combined test method for combining software reliability tests with hardware reliability tests |
| CN105320636A (en) * | 2015-09-29 | 2016-02-10 | 北京航天发射技术研究所 | CAN bus data equivalent apparatus and data processing method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105897485A (en) | 2016-08-24 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106685990B (en) | Safety detection method and device based on industrial Internet operating system | |
| CN102664902B (en) | Hardware implementing method for kernels of POWERLINK communication protocol master and slave stations | |
| CN109194491B (en) | Password evaluation test system and password evaluation test method | |
| CN102540982B (en) | Motion control card and motion control method | |
| CN108401449A (en) | Flight simulation method, device based on Fusion and equipment | |
| CN105740139B (en) | A kind of debugging embedded software method based on virtual environment | |
| CN204759403U (en) | System based on data pass realization equipment internal module thoroughly and upgrade | |
| CN104219003B (en) | Communicator, test system and method for testing thereof | |
| CN108247632A (en) | A kind of cooperation robot control system based on ROS | |
| KR101323937B1 (en) | A simulation system of communication between HMI simulator and PLC simulator | |
| CN105897485B (en) | A kind of safe analogy method and system of CAN bus based process | |
| RU2011150797A (en) | METHOD AND DEVICE FOR MONITORING A DEVICE EQUIPPED WITH A MICROPROCESSOR | |
| CN104346545A (en) | Electromagnetic bypass signal acquisition device and method for USB (universal serial bus) Key | |
| CN103186500A (en) | Car-mounted terminal multiprocessor communication interface system and communication method | |
| CN117667535A (en) | Debugging method and device based on SOC (system on chip) system, chip and traffic equipment | |
| CN112580016A (en) | Login authority configuration method and device for industrial control firewall | |
| CN103600350A (en) | Robot steering gear control system and method based on imaging | |
| CN210466051U (en) | Fault injection test system for redundant flight control computer | |
| CN104378383A (en) | Online distribution line monitoring data terminal and safe and encrypted communication method of distribution lines | |
| CN104216329A (en) | Safety control system | |
| CN103206308A (en) | Method for safety monitoring system of gasoline ECU (engine control unit) | |
| CN103064358A (en) | Injection molding machine separation type human machine interface (HMI) controller based on Android system and injection molding machine control system | |
| EP3637262B1 (en) | Verification device for vehicle control device and vehicle control device | |
| CN107065598B (en) | L KJ simulation system and method | |
| CN111367219A (en) | Carrier rocket differential mode transmitter based on PCI bus |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |