CN106055351A - Development method and apparatus of control system - Google Patents
Development method and apparatus of control system Download PDFInfo
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- CN106055351A CN106055351A CN201610342015.5A CN201610342015A CN106055351A CN 106055351 A CN106055351 A CN 106055351A CN 201610342015 A CN201610342015 A CN 201610342015A CN 106055351 A CN106055351 A CN 106055351A
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- G—PHYSICS
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- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F8/00—Arrangements for software engineering
- G06F8/40—Transformation of program code
- G06F8/41—Compilation
- G06F8/44—Encoding
- G06F8/447—Target code generation
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
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Abstract
The present invention discloses a development method and apparatus of a control system. The development method comprises obtaining image information required for developing the control system; packaging the obtained image information to be an S-Function module which can be directly used in a Matlab tool, simulating a preset control strategy model by using a simulation module of the Matlab tool, and preliminarily verifying correctness of the control strategy model; integrating the S-Function module and the control strategy model when the established control strategy model is confirmed to be correct, and converting the integrated control strategy model into C codes based on an RTW module provided by the Matlab tool; and compiling the generated C codes, generating an executable file by linking, and writing the executable file into a corresponding controller to complete development of the control system.
Description
Technical field
The application relates to software switch field, more particularly, it relates to the method and apparatus of a kind of control system's development.
Background technology
Present stage, exploitation Control System Software typically uses the mode of hand-written code to complete, such as C language, C++.As,
When developing the unmanned control system of automobile, first pass through hand-written code control single chip computer corresponding module and carry out image information
Gather, the image information collected secondly by arithmetic analysis, extract the image letter needed for the unmanned control system of exploitation
Breath, then carries out the image information extracted and control strategy integrated, completes the exploitation of whole Unmanned Systems's software.
For software developer, the method for hand-written code development Control System Software is used to need software developer
There is stronger Professional knowledge, increase the difficulty of Control System Software exploitation the most undoubtedly.
Summary of the invention
In view of this, the application provides the method and apparatus of a kind of exploitation opening control system, based on Matlab instrument
The mode of graphic programming develops control system, reduces the development difficulty of control system.
To achieve these goals, it is proposed that scheme as follows:
A kind of development approach of control system, including:
Obtain the image information developed needed for described control system；
Described image information is packaged, generates and include described image information, and be applicable to the S-of Matlab instrument
Function module；
Utilize the emulation module under Matlab instrument that the control strategy model pre-build is emulated, described with checking
Control strategy model is the most correct；
After verifying that described control strategy model is errorless, integrated described S-Function module and described control strategy mould
Type；
Utilize the RTW module under Matlab instrument, be C code by the described control strategy model conversion after integrated, and adjust
With compiler, described C code is compiled, links, generate executable file；
Described executable file is write the controller of described control system, completes the exploitation of described control system.
Preferably, the described RTW module utilized under Matlab instrument, by the described control strategy model conversion after integrated be
C code, and call compiler described C code is compiled, links, after generating executable file, also include:
Obtain the address of variable file generated in described C code compilation process and the A2L that automatically generates of Matlab instrument
Formatted file；
Based on described address of variable file and described A2L formatted file, generate the database file needed for calibration software；
Wherein said calibration software is for realizing the download program to described control system and measuring demarcation.
Preferably, the described image information obtained needed for the described control system of exploitation, including:
The video information of collection vehicle；
Described video information is decoded operation；
From decoded described video information, extract the described image information developed needed for described control system.
Preferably, described in call compiler described C code be compiled, link, generate executable file and include:
By calling the code file write based on Perl language, complete described compiler is called；
Utilize described compiler that described C code is compiled, is linked, generate executable file.
A kind of development device of control system, including:
First information collecting unit, for obtaining the image information developed needed for described control system；
Encapsulation unit, for being packaged described image information, generates and includes described image information, and be applicable to
The S-Function module of Matlab instrument；
Simulation unit, for utilizing the emulation module under Matlab instrument to imitate the control strategy model pre-build
Very, the most correct to verify described control strategy model；
Integrated unit, is used for after verifying that described control strategy model is errorless, integrated described S-Function module and institute
State control strategy model；
Code conversion compilation unit, for utilizing the RTW module under Matlab instrument, by the described control strategy after integrated
Model conversion is C code, and calls compiler described C code is compiled, is linked, and generates executable file；
Writing unit, for described executable file writes the controller of described control system, completing described control is
The exploitation of system.
Preferably, also include:
Second information acquisition unit, for obtain in described C code compilation process generate address of variable file and
The A2L formatted file that Matlab instrument automatically generates；
Database file signal generating unit, for based on described address of variable file and described A2L formatted file, generates and demarcates
Database file needed for software；
Wherein said calibration software is for realizing the download program to described control system and measuring demarcation.
Preferably, described first information collecting unit includes:
Photographic head, for the video information of collection vehicle；
Decoding subelement, for being decoded operation to described video information；
Image information extracts subelement, for from decoded described video information, extracts and develops described control system
Required described image information.
Preferably, described code conversion compilation unit includes:
Code conversion subelement, for utilizing the RTW module under Matlab instrument, by the described control strategy mould after integrated
Type is converted to C code；
Compiler calls subelement, for by calling the code file write based on Perl language, completes described volume
Translate calling of device；
Code compilation subelement, is used for utilizing described compiler that described C code is compiled, is linked, and generation can perform
File.
Through as shown from the above technical solution, this application discloses development approach and the device of a kind of control system.First obtain
Take away the image information sent out needed for control system.And then, the image information got being packaged into can be straight under Matlab instrument
Connect the S-Function module of use, and utilize the emulation module under Matlab instrument that the control strategy model pre-build is entered
Row emulation, the correctness of preliminary identification control strategy model.After the control strategy model confirming foundation is errorless, by above-mentioned S-
Function module and above-mentioned control strategy model carry out integrated, and the RTW module provided based on Matlab instrument is by after integrated
Control strategy model conversion be C code.Further, the C code generated is compiled, links generation executable file, with
Controller relevant for the write of above-mentioned executable file will complete the exploitation of control system.Compared with prior art, base of the present invention
Each graphical module under Matlab instrument completes the exploitation to control system, it is no longer necessary to system developer writes soft
Part code, reduces the difficulty of Control System Software exploitation.
Accompanying drawing explanation
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
In having technology to describe, the required accompanying drawing used is briefly described, it should be apparent that, the accompanying drawing in describing below is only this
Inventive embodiment, for those of ordinary skill in the art, on the premise of not paying creative work, it is also possible to according to
The accompanying drawing provided obtains other accompanying drawing.
Fig. 1 shows the schematic flow sheet of the development approach of a kind of control system disclosed in one embodiment of the invention；
Fig. 2 shows the structural representation of the development device of a kind of control system disclosed in another embodiment of the present invention；
Fig. 3 shows the structural representation of the development device of a kind of control system disclosed in another embodiment of the present invention.
Detailed description of the invention
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Describe, it is clear that described embodiment is only a part of embodiment of the present invention rather than whole embodiments wholely.Based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under not making creative work premise
Embodiment, broadly falls into the scope of protection of the invention.
See Fig. 1 and show the flow process signal of the development approach of a kind of control system disclosed in one embodiment of the invention
Figure.
As shown in Figure 1, the method includes:
S101: obtain the image information needed for exploitation control system.
The image information needed for exploitation control system is obtained by the data/address bus of automotive interior.
Optionally, can by obtain camera collection video information, and to camera collection to video information carry out
Decoding operation, and then, from decoded described video information, extract the described image letter developed needed for described control system
Breath.
S102: be packaged described image information, generates and includes described image information, and be applicable to Matlab instrument
S-Function module.
The image information got is packaged by communication matrix based on picture processing chip, permissible to be packaged into user
The S-Function module directly used under Matlab instrument.
S103: utilize the emulation module under Matlab instrument the control strategy model pre-build to be emulated, to test
Demonstrate,prove described control strategy model the most correct.
Optionally, control system's development method disclosed by the invention can be applicable to driving of the unmanned control system of automobile
Send out.When developing the unmanned control system of automobile, the control strategy of the unmanned control system of automobile can include following control
Strategy, as when the distance of pedestrian and vehicle is in the first default scope, the control strategy of vehicle output alarm signal, work as pedestrian
With the distance of vehicle when the second default scope, vehicle realizes the control strategy of Braking mode.
Certainly, vehicle driver can arrange different control strategies according to the driving habits of self in actual applications.
After control strategy model modeling completes, can be with the Sinks (signaling module of offer under Matlab/Simulink
Group) and Sources (mathematics operation module group) storehouse in module carry out associative simulation test, preliminary identification control strategy model
Correctness.
S104: after verifying that described control strategy model is errorless, integrated described S-Function module and described control plan
Slightly model.
The integrating process of above-mentioned S-Function module and control strategy model can be regarded as and will deposit in S-Function module
The image information of storage is associated with the process of the information input terminal mouth of control strategy model.
S105: utilize the RTW module under Matlab instrument, is C code by the described control strategy model conversion after integrated,
And call compiler described C code is compiled, links, generate executable file.
Specifically include:
Real-Time Workshop (between real time operation) is the automatic Code Generation that Matlab provides, in the application
In Real-Time Workshop can be provided to be C code by the control strategy model conversion after integrated based on Matlab.Then, logical
Cross and call the code file that Perl language is write, complete and compiler software is called, and control compiler software and carry out
The foundation of soft project, compile and link work, ultimately generating the executable file that controller can use.
S106: described executable file is write the controller of described control system, completes the exploitation of described control system.
As seen from the above embodiment: this application discloses the development approach of a kind of control system.First obtain exploitation to control
Image information needed for system.And then, the image information got is packaged into the S-that directly can use under Matlab instrument
Function module, and utilize the emulation module under Matlab instrument that the control strategy model pre-build is emulated, just
The correctness of step card control strategy model.After the control strategy model confirming foundation is errorless, by above-mentioned S-Function mould
Block and above-mentioned control strategy model carry out integrated, and the RTW module provided based on Matlab instrument is by the control strategy after integrated
Model conversion is C code.Further, the C code generated is compiled, links generation executable file, to hold above-mentioned
The controller that style of writing part write is relevant completes the exploitation of control system.Compared with prior art, the present invention is based on Matlab work
Each graphical module under Ju completes the exploitation to control system, it is no longer necessary to system developer's write software code, fall
The difficulty of low Control System Software exploitation.
See Fig. 2 and show the development device structural representation of a kind of control system disclosed in another embodiment of the present invention
Figure.
In the present embodiment, this device includes: first information collecting unit 1, encapsulation unit 2, simulation unit 3, integrated list
Unit 4, code conversion compilation unit 5 and writing unit 6.
Wherein, first information collecting unit 1, for obtaining the image information developed needed for described control system, and will obtain
The image information got sends to encapsulation unit 2.
Encapsulation unit 2 is for defeated to first information collecting unit based on the S-Function modular form under Matlab instrument
The image information gone out is packaged, to generate the S-Function module including described image information.
Simulation unit 3 is for utilizing the emulation module under Matlab instrument to imitate the control strategy model pre-build
Very, the most correct to verify described control strategy model.
Integrated unit 4 is used for after determining that described control strategy module is correct, integrated described S-Function module
With described control strategy model.
Code conversion compilation unit 5 is for utilizing the RTW module under Matlab instrument, by the described control strategy after integrated
Model conversion is C code, and calls compiler described C code is compiled, is linked, and generates executable file.
Concrete, Real-Time Workshop (between real time operation) is the automatic Code Generation that Matlab provides,
Real-Time Workshop can be provided to be C generation by the control strategy model conversion after integrated based on Matlab in this application
Code.Then, by calling the code file that Perl language is write, complete and compiler software is called, and control compiling
Device software carries out the foundation of soft project, compiles and link work, ultimately generates the executable file that controller can use.
Writing unit 6 for writing the controller of described control system by described executable file, and completing described control is
The exploitation of system.
See Fig. 3 and show the development device structural representation of a kind of control system disclosed in another embodiment of the present invention
Figure.
Unlike a upper embodiment, in the present embodiment, in order to realize the monitoring to this control system, this device
Also include the second information acquisition unit 7 and database file signal generating unit 8.
Wherein, the second information acquisition unit 7 for obtain the address of variable file that generates in described C code compilation process with
And the A2L formatted file that Matlab instrument automatically generates.
Database file signal generating unit, for based on described address of variable file and described A2L formatted file, generates and demarcates
Database file needed for software.Wherein, described calibration software is for realizing the monitoring to described control system.
Include it addition, the most described first information collecting unit possesses: photographic head, decoding subelement and figure
As information retrieval subelement.
Wherein, photographic head, it is used for gathering video information；
Decoding subelement, for being decoded operation to described video information；
Image information extracts subelement, for from decoded described video information, extracts and develops described control system
Required described image information.
Described code conversion compilation unit includes:
Code conversion subelement, for utilizing the RTW module under Matlab instrument, by the described control strategy mould after integrated
Type is converted to C code；
Compiler calls subelement, for by calling the code file write based on Perl language, completes described volume
Translate calling of device；
Code compilation subelement, is used for utilizing described compiler that described C code is compiled, is linked, and generation can perform
File.
It should be noted that this device embodiment is corresponding with embodiment of the method, it is identical with performing principle that it performs process,
Therefore not to repeat here.
Finally, in addition it is also necessary to explanation, in this article, the relational terms of such as first and second or the like be used merely to by
One entity or operation separate with another entity or operating space, and not necessarily require or imply these entities or operation
Between exist any this reality relation or order.And, term " includes ", " comprising " or its any other variant meaning
Containing comprising of nonexcludability, so that include that the process of a series of key element, method, article or equipment not only include that
A little key elements, but also include other key elements being not expressly set out, or also include for this process, method, article or
The key element that equipment is intrinsic.In the case of there is no more restriction, statement " including ... " key element limited, do not arrange
Except there is also other identical element in including the process of described key element, method, article or equipment.
In this specification, each embodiment uses the mode gone forward one by one to describe, and what each embodiment stressed is and other
The difference of embodiment, between each embodiment, identical similar portion sees mutually.
Described above to the disclosed embodiments, makes professional and technical personnel in the field be capable of or uses the present invention.
Multiple amendment to these embodiments will be apparent from for those skilled in the art, as defined herein
General Principle can realize without departing from the spirit or scope of the present invention in other embodiments.Therefore, the present invention
It is not intended to be limited to the embodiments shown herein, and is to fit to and principles disclosed herein and features of novelty phase one
The widest scope caused.
Claims (8)
1. the development approach of a control system, it is characterised in that including:
Obtain the image information developed needed for described control system；
Described image information is packaged, generates and include described image information, and be applicable to the S-of Matlab instrument
Function module；
The emulation module under Matlab instrument is utilized the control strategy model pre-build to be emulated, to verify described control
Policy model is the most correct；
After verifying that described control strategy model is errorless, integrated described S-Function module and described control strategy model；
Utilize the RTW module under Matlab instrument, be C code by the described control strategy model conversion after integrated, and call volume
Translate device into described C code is compiled, is linked, generate executable file；
Described executable file is write the controller of described control system, completes the exploitation of described control system.
Method the most according to claim 1, it is characterised in that the described RTW module utilized under Matlab instrument, by integrated
After described control strategy model conversion be C code, and call compiler described C code be compiled, link, generation can be held
After style of writing part, also include:
Obtain the address of variable file generated in described C code compilation process and the A2L form that automatically generates of Matlab instrument
File；
Based on described address of variable file and described A2L formatted file, generate the database file needed for calibration software；
Wherein said calibration software is for realizing the download program to described control system and measuring demarcation.
Method the most according to claim 1, it is characterised in that the image letter needed for described control system is developed in described acquisition
Breath, including:
The video information of collection vehicle；
Described video information is decoded operation；
From decoded described video information, extract the described image information developed needed for described control system.
Method the most according to claim 1, it is characterised in that described in call compiler described C code is compiled, chain
Connect, generate executable file and include:
By calling the code file write based on Perl language, complete described compiler is called；
Utilize described compiler that described C code is compiled, is linked, generate executable file.
5. the development device of a control system, it is characterised in that including:
First information collecting unit, for obtaining the image information developed needed for described control system；
Encapsulation unit, for being packaged described image information, generates and includes described image information, and be applicable to Matlab
The S-Function module of instrument；
Simulation unit, for utilizing the emulation module under Matlab instrument that the control strategy model pre-build is emulated,
The most correct to verify described control strategy model；
Integrated unit, is used for after verifying that described control strategy model is errorless, integrated described S-Function module and described control
Policy model processed；
Code conversion compilation unit, for utilizing the RTW module under Matlab instrument, by the described control strategy model after integrated
Be converted to C code, and call compiler described C code is compiled, links, generate executable file；
Writing unit, for described executable file writes the controller of described control system, completes described control system
Exploitation.
Device the most according to claim 5, it is characterised in that also include:
Second information acquisition unit, for obtaining the address of variable file and Matlab generated in described C code compilation process
The A2L formatted file that instrument automatically generates；
Database file signal generating unit, for based on described address of variable file and described A2L formatted file, generates calibration software
Required database file；
Wherein said calibration software is for realizing the download program to described control system and measuring demarcation.
Device the most according to claim 5, it is characterised in that described first information collecting unit includes:
Photographic head, for the video information of collection vehicle；
Decoding subelement, for being decoded operation to described video information；
Image information extracts subelement, for from decoded described video information, extracts needed for developing described control system
Described image information.
Device the most according to claim 5, it is characterised in that described code conversion compilation unit includes:
Code conversion subelement, for utilizing the RTW module under Matlab instrument, turns the described control strategy model after integrated
It is changed to C code；
Compiler calls subelement, for by calling the code file write based on Perl language, completes described compiler
Call；
Code compilation subelement, is used for utilizing described compiler that described C code is compiled, is linked, and generates executable file.
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| CN109857456A (en) * | 2019-01-03 | 2019-06-07 | 许继电气股份有限公司 | A kind of DC control protective module packaging method and device based on emulation platform |
| CN111339626A (en) * | 2018-12-19 | 2020-06-26 | 国家电投集团科学技术研究院有限公司 | Simulation verification method and system for control strategy of intelligent energy system |
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| CN113238491A (en) * | 2021-04-12 | 2021-08-10 | 湖南三一智能控制设备有限公司 | Simulation test method and device for actuating mechanism, intelligent arm support and engineering vehicle |
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| CN113254479B (en) * | 2020-02-12 | 2024-03-19 | 彩虹无线（北京）新技术有限公司 | Data measurement method and device for electronic control unit |
| CN112527256A (en) * | 2020-12-16 | 2021-03-19 | 北京中水科水电科技开发有限公司 | Integrated hydropower station model development system and method |
| CN113238491A (en) * | 2021-04-12 | 2021-08-10 | 湖南三一智能控制设备有限公司 | Simulation test method and device for actuating mechanism, intelligent arm support and engineering vehicle |
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| CN116125943A (en) * | 2022-12-16 | 2023-05-16 | 佛山仙湖实验室 | Whole vehicle control strategy development test method and device for hydrogen fuel cell automobile |
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Application publication date: 20161026 |