CN106371813B - A kind of electric vehicle motor controller method for producing software based on Simulink - Google Patents
A kind of electric vehicle motor controller method for producing software based on Simulink Download PDFInfo
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Abstract
The embodiment of the invention provides a kind of motor control software generation methods of electric car based on Simulink, comprising steps of establish the simulated environment of the motor control model of electric car under Simulink environment, the software program that obtains the control algorithm model based on Simulink after emulation testing and automatically generate；Exploitation obtains Bootloader, program chains software program, bottom software program；Under translation and compiling environment, the control algolithm software program based on Simulink, program chains software program, bottom software program are combined, and compiled automatically and link processing, obtain binary executable；The binary executable is burned onto the electric machine controller of electric car.Implement the motor control software based on Simulink that the present invention obtains, has the characteristics that stratification, modularization, there is scalability and reusability, and improve the development efficiency of software.
Description
Technical field
The invention belongs to electric car fields, more particularly to a kind of electric vehicle motor controller based on Simulink
Method for producing software.
Background technique
With the development of social progress and science and technology, environment and energy problem become increasingly conspicuous.Therefore develops and popularize electronic
The cry of the new-energy automobiles such as automobile is increasingly surging, develops now electric car (Electric Vehicle, EV), plug-in
Hybrid vehicle (Plug-in hybrid electric vehicle, PHEV) and stroke-increasing electric automobile (Extended-
Range Electric Vehicle, EREV) etc. multiple types, the volume production of domestic and international electric car and sale also started.Electricity
For electrical automobile electric machine controller as critical component, the process of exploitation certainly will be different with traditional industry electric machine controller, and with
Automobile electrical sub-control unit development process is similar.
In the industry cycle, the development process of existing electric vehicle motor controller software includes following several modes, wherein one
Kind mode is: needing to establish the Integrated Development Environment for being based on main control chip (Microcontroller Unit, MCU)
(Integrated Development Environment, IDE) take language such as C/C++ as the project work of main programming language
Journey, the engineering include exploitation bottom layer driving, application link layer, application layer software, wherein all software all uses hand-written code
Mode developed, i.e., algorithm engineering teacher needs to be proficient in and develops algorithm with C language under IDE environment.And another way
Be: for application layer software, by algorithm engineering teacher, using Matlab/Simulink, (it is the face that MathWorks company provides
It is emulated simultaneously to multiple domain and the frame module map environmental level based on modelling, support system level design, emulation, automatic code is raw
At and embedded system follow-on test and verifying) etc. after other mathematics library tool modeling simulating, verifyings, hand to soft
Model conversation is C code by part engineer, is then transplanted in projects, this requires software engineers can skillfully grasp calculation
Method model, and be frequently necessary to carry out modification control algolithm and test repeatedly in the software development debugging stage.
From the aforegoing it can be seen that there are following shortcomings for both existing development schemes:
It needs to carry out code conversion between motor control algorithms simulating, verifying and practical debugging test；Algorithm function module is not
Easily extension, is extended requires a large amount of modification every time, to also cause software management and maintenance more troublesome；Together
When, division of labor boundary is not clear enough between algorithm engineering teacher, and the work registration of algorithm engineering teacher and software engineer are high, needs to slap
The knowledge of another party is held, such as in the second way, it is necessary to which software engineer cooperates always algorithm engineering teacher to carry out the work, people
Member's utilization rate is not high, not high so as to cause development efficiency, and increases the difficulty of exploitation.
Summary of the invention
Technical problem to be solved by the present invention lies in provide a kind of electric vehicle motor controller based on Simulink
Method for producing software can make the software generated have stratification, modularization, have scalability and reusability, support more
The characteristics of task, and improve software development efficiency.
In order to solve the above technical problems, the embodiment of the present invention provides a kind of motor control of electric car based on Simulink
Method for producing software processed, includes the following steps:
The simulated environment that the motor control model of electric car is established under Simulink environment, to the motor of exploitation design
Controlling model carries out simulation analysis, obtains the control algorithm model based on Simulink after emulation testing and automatically generates
Control algolithm software program based on Simulink；
Exploitation obtains Bootloader, program chains software program, bottom software program；
Under translation and compiling environment, to the control algolithm software program based on Simulink, program chains software program, bottom
Layer software program combined, and compiled automatically and link processing, acquisition binary executable；
The binary executable is burned onto the electric machine controller of electric car；
Wherein, under translation and compiling environment, to the control algolithm software program based on Simulink, program chains software journey
The step of sequence, bottom software program are combined, and carry out automatic process of compilation, obtain binary executable further wraps
It includes:
Motor control model based on Simulink is called the M script write in advance, is based on to described by control
The control algolithm software program of Simulink executes embedded code automatically and generates work, obtains application layer code；
By the M script execution code integration work, by the application layer code, application program link software code,
Bottom software code combines, the code file after forming integration；
Autoexec is dispatched by the M script, batch processing is carried out to the code file after the integration；
By the M script call chip compiler, to the code file after the batch processing be compiled and link at
Reason generates the writable file of binary system；
Wherein, the simulated environment of the motor control model that electric car is established under Simulink environment, to exploitation
The motor control model of design carries out simulation analysis, obtains the control algolithm software journey based on Simulink after emulation testing
The step of sequence, further comprises:
The simulated environment that the motor control model of electric car is established at Simulink is used for motor to exploitation design
The control algolithm of Controlling model carries out simulation analysis；
Model assemblage on-orbit is carried out to the motor control model and tests MiL, and generates code；
Software assemblage on-orbit is carried out to the code and tests SiL, to obtain the control algolithm software based on Simulink
Program code.
Wherein, under translation and compiling environment, to the control algolithm software program based on Simulink, program chains software journey
The step of sequence, bottom software program are combined, and carry out automatic process of compilation, obtain binary executable further wraps
It includes:
Staking-out work is carried out by the M script, generation can demarcating file.
Wherein, further comprise:
Control algolithm software program to described based on Simulink, Bootloader, program chains software journey in advance
Task schedule interface, input/output signal, statement, update opportunity and global variable in sequence and bottom software program carry out
Unified definition.
Wherein, described to input/output signal progress unified definition customized using the image in Simulink in advance
The class-based data type of repository designer CSC Designer design is realized.
Wherein, further comprise:
There is the electric machine controller of binary executable to carry out experimental test burning, electricity is modified according to test result
The parameter of machine Controlling model, and obtain the control algolithm software program based on Simulink of update.
Implement the present invention, have it is following the utility model has the advantages that
To sum up, implement the present invention, have it is following the utility model has the advantages that
Due to that can realize key compiling and chain to simulation model and different program codes under Simulink platform
The problem of connecing, solve in the prior art, artificial conversion is needed from algorithm simulated model to software code improves exploitation effect
Rate；
In an embodiment of the present invention, the quick complete independently algorithm modification simulating, verifying of algorithm engineering teacher and reality can be made
Verification experimental verification process participates in without software engineer, keeps development process more scientific；
Implement the embodiment of the present invention, obtains electric vehicle motor controller software, set with modularization, stratification
The features such as meter, is easy to extend, and reusability is high, therefore software management service is at low cost；
Implement the embodiment of the present invention may be implemented algorithm development and has opened with software since motor control software is clear in structure
The separation for sending out work, improves development efficiency and project management efficiency.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention without any creative labor, may be used also for those of ordinary skill in the art
To obtain other drawings based on these drawings.
Fig. 1 is the one of a kind of electric vehicle motor controller method for producing software based on Simulink provided by the invention
The main flow schematic diagram of a embodiment；
Fig. 2 is the detail flowchart of step S10 in Fig. 1；
Fig. 3 is the detail flowchart of step S14 in Fig. 1；
Fig. 4 is the configuration diagram for the electric vehicle motor controller software based on Simulink that Fig. 1 is generated；
Fig. 5 is the model emulation environment framework figure of the control algolithm software based on Simulink in Fig. 3.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
As shown in Figure 1, being that electric vehicle motor controller software of the kind provided by the invention based on Simulink is raw
At the main flow schematic diagram of one embodiment of method.In this embodiment, this method comprises the following steps:
Step S10 establishes the simulated environment of the motor control model of electric car under Simulink environment, sets to exploitation
The motor control model of meter carries out simulation analysis, obtain the control algorithm model based on Simulink after emulation testing and from
The dynamic control algolithm software program based on Simulink generated；
Step S12, exploitation obtain Bootloader (bootloader), program chains software program, bottom software journey
Sequence；
Step S14, under translation and compiling environment, to control algolithm software program, program chains software journey based on Simulink
Sequence, bottom software program are combined, and compiled automatically and link processing, obtain binary executable；
Step S16, binary executable is burned onto the electric machine controller of electric car.To burning have two into
The electric machine controller of executable file processed carries out experimental test, and the parameter of motor control model is modified according to test result, and obtains
The control algolithm software program based on Simulink that must be updated.
Specifically, as shown in Fig. 2, step S10 is specifically included:
Step S100 establishes the simulated environment of the motor control model of electric car at Simulink, designs exploitation
For motor control model control algolithm carry out simulation analysis；
Step S102 carries out the test of model assemblage on-orbit (Model in the Loop, MiL) to motor control model, and
Generate code；
Step S104 carries out the test of software assemblage on-orbit (Software in the Loop, SiL) to code, to obtain
Obtain the control algolithm software program code based on Simulink.The test environment and test process of specific MiL and SiL can root
It is built and is completed according to actual, herein without being described in detail.
Specifically, as shown in figure 3, step S14 is specifically included:
Step S140, the motor control model based on Simulink call the M script write in advance, to base by control
Embedded code is executed automatically in the control algolithm software program of Simulink and generates work, application layer code is obtained, at one
In embodiment, which is the C code write as with C/C++ language；
Step S142, by M script execution code integration work, by application layer code, application program link software code,
Bottom software code combines, the code file after forming integration, in one embodiment, the application program link software
Code, bottom software code are also possible to C code；
Step S144, dispatches autoexec by M script, carries out batch processing to the code file after integration；
Step S146, by M script call chip compiler, to the code file after batch processing be compiled and link at
Reason generates the writable file of binary system, wherein can realize that code is compiled by using such as Makefile in Simulink
It translates, Makefile can be specified with a series of rule, which code file needs first to compile, which code file is compiled after needing
It translates, which code file needs to recompilate, and more complicated feature operation is even carried out, because makefile is just as one
Shell script is the same, wherein the order of operating system can also be executed；Meanwhile it can come by using such as Linkfile real
It is established the link between present multiple code files；After the step, " .S19 ", " .elf " and " .map " text can be formed
Part；
Step S148 carries out calibration processing by M script, and generation can demarcating file (i.e. " .a21 " file).
It is understood that needing in advance to control algolithm software program, Bootloader, journey based on Simulink
Task schedule interface, input/output signal, statement in sequence link software program and bottom software program, update opportunity and
Global variable carries out unified definition.
Wherein, carrying out unified definition to input/output signal in advance is set using the image customization repository in Simulink
The class-based data type of gauge CSC Designer design is realized.
For ease of understanding, following realization principle of the invention to be further illustrated in conjunction with Fig. 4 and Fig. 5.
As shown in figure 4, showing the configuration diagram of the electric vehicle motor controller software based on Simulink.The base
In the motor control software of Simulink, it includes starting guidance software, translation and compiling environment, bottom software, application program link
Software, the control algolithm software based on Simulink.
Wherein, starting guidance software is the software that operation is defaulted after system electrification, and the software is independently of other parts, mainly
Realization powers on environment measuring and is confirmed whether that MCU operates normally and write with a brush dipped in Chinese ink online the functions such as whether program normal；
Translation and compiling environment be by script call chip compiler all code files be compiled and link generate two into
Make writable file；Building for translation and compiling environment is integrated under Matlab environment, and a key compilation facility may be implemented.It passes through motor
Controlling model utilizes a control, and to call the M script carried out ahead of schedule and write, completion code is generated, code is integrated, calls compiling
Device completes the work such as compiling link, to generate executable file and demarcating file.Its detailed process may refer to aforementioned to Fig. 3's
Description；
Bottom software is direct operation hardware (such as the electric current of the analog-digital converter of chip acquisition motor), including periphery is set
Standby bottom layer driving, hardware abstraction layer and offer communication service；
Application program linking layer is to provide timed task dispatch interface, realizes between control algolithm software and bottom software
Link；
Control algolithm software based on Simulink is developed using Matlab/Simulink/Stateflow, can be with
Code is directly generated, does not need to carry out conversion transplanting.
Therefore in method provided by the invention, algorithm engineering teacher can complete algorithm development at Matlab/Simulink
And simulation process, experimental verification can be carried out, on practical controller hardware directly then so as to improve development efficiency.
As shown in figure 5, showing the block diagram of the control algolithm software based on Simulink.Which employs hierarchical structure, one
It is divided into three layers: model emulation environment, control algorithm model, functional block model.
Wherein, model emulation environment for can under Simulink platform, using same set of control strategy model, with into
Row model emulation and real time workshop, and real electrical machinery control is carried out, so as to reach simulation algorithm and actual algorithm phase
Unanimously, with emulation come Guiding Practice.
Control algorithm model is divided into input/output model and functional mode.Wherein, input/output model and linking layer are direct
It interacts, the input/output signal of system is enable to match with functional mode, while making the control algolithm software automatically generated
Code matches with application program link software, so that software translating link be made not report an error.In some embodiments, Ke Yizeng
Add input/output signal, then needs to update input/output model and application program link software simultaneously at this time.
Functional mode is divided into schema management, motor control algorithms, fault detection, failure according to function needed for motor control
Processing, rotation become calibration 5 modules.
In actual software development flow, generate the motor control software based on Simulink initial stage, need by
Module in motor control model is divided into multiple submodule according to different task execution times, in the hope of generating code by model
When it is identical execute the time task be integrated together, to meet multitask demand.All sons of motor control model in this way
The design and maintenance of model can be carried out independently, therefore can carry out the careful division of labor, so as to improve engineer's exploitation
Efficiency and project management efficiency.
It is understood that the exploitation sequencing of part all in the software architecture of Fig. 1 shown can be exchanged,
On condition that the function and interface definition between all subdivisions need to define in advance clearly.
Specifically, software function definition is interpreted according to electric machine controller design specification at the beginning of software design,
Solution formulation and the division of labor are carried out by project management, software engineer, algorithm engineering teacher, Test Engineer etc..In one embodiment
In, starting guidance software (bootloader), translation and compiling environment, bottom software, application program link software are born by software engineer
Duty exploitation, the control algolithm software based on Simulink are then responsible for by algorithm engineering teacher.
Wherein application program link software needs needed for software engineer and the clear control algolithm of algorithm engineering Shi Dingyi
Task schedule interface, definition, statement, opportunity of update of input/output signal etc., in this related to control algolithm and application
The signal of program chains software is all to define when by auto-building model embedded code as global variable, then applying
Program chains layer only needs to state then operate these signals.The definition of signal customizes repository using the image of Simulink
The class-based data type of designer (Graphical custom storage (CCS) designer) design.
The emulation ring that the exploitation of System design based on model algorithm software can be built using Simulink at the beginning of design
Border carries out simulation analysis to the control algolithm of design, then the test of model assemblage on-orbit (MiL) is carried out, after then generating code
It carries out the test of software assemblage on-orbit (SiL), combines whole software after the completion of last all software developments and be compiled link
It downloads to practical controller and carries out experimental test.
Wherein, in simulation process, or after experimental test, discovery needs to modify control algolithm, then can pass through
Then directly modification model to realize carries out a key compiling and then can be generated that file can be executed under Simulink environment, this
Process no longer needs software engineer to participate in, and makes software engineer and algorithm engineering teacher that can be absorbed in the exploitation in respective field
Work, greatly improves development efficiency.
To sum up, implement the present invention, have it is following the utility model has the advantages that
Due to that can realize key compiling and chain to simulation model and different program codes under Simulink platform
The problem of connecing, solve in the prior art, artificial conversion is needed from algorithm simulated model to software code improves exploitation effect
Rate；
In an embodiment of the present invention, the quick complete independently algorithm modification simulating, verifying of algorithm engineering teacher and reality can be made
Verification experimental verification process participates in without software engineer, keeps development process more scientific；
Implement the embodiment of the present invention, obtains electric vehicle motor controller software, set with modularization, stratification
The features such as meter, is easy to extend, and reusability is high, therefore software management service is at low cost；
Implement the embodiment of the present invention may be implemented algorithm development and has opened with software since motor control software is clear in structure
The separation for sending out work, improves development efficiency and project management efficiency.
Above disclosed is only a preferred embodiment of the present invention, cannot limit the power of the present invention with this certainly
Sharp range, therefore equivalent changes made in accordance with the claims of the present invention, are still within the scope of the present invention.
Claims (6)
1. a kind of motor control software generation method of the electric car based on Simulink, which is characterized in that including walking as follows
It is rapid:
The simulated environment that the motor control model of electric car is established under Simulink environment, to the motor control of exploitation design
Model carries out simulation analysis, obtain the Controlling model based on Simulink after emulation testing and automatically generate based on
The control algolithm software program of Simulink；
Exploitation obtains Bootloader, program chains software program, bottom software program；
It is soft to the control algolithm software program based on Simulink, program chains software program, bottom under translation and compiling environment
Part program is combined, and compiled automatically and link processing, obtain binary executable；
The binary executable is burned onto the electric machine controller of electric car；
Wherein, under translation and compiling environment, to the control algolithm software program based on Simulink, program chains software program,
The step of bottom software program is combined, and carries out automatic process of compilation, obtains binary executable further comprises:
Motor control model based on Simulink calls the M script write in advance by control, is based on Simulink to described
Control algolithm software program execute automatically embedded code generate work, obtain application layer code；
By the M script execution code integration work, by the application layer code, application program link software code, bottom
Software code combines, the code file after forming integration；
Autoexec is dispatched by the M script, batch processing is carried out to the code file after the integration；
Chip compiler is called by the M script, the code file after the batch processing is compiled and link is handled, it is raw
At the writable file of binary system.
2. the motor control software generation method of the electric car based on Simulink, feature exist as described in claim 1
In the simulated environment of the motor control model for establishing electric car under Simulink environment, to the motor of exploitation design
Controlling model carries out simulation analysis, obtains the control algorithm model based on Simulink after emulation testing and automatically generates
The step of software program, further comprises:
The simulated environment that the motor control model of electric car is established at Simulink is used for motor control to exploitation design
The control algolithm of model carries out simulation analysis；
Model assemblage on-orbit is carried out to the motor control model and tests MiL, and generates code；
Software assemblage on-orbit is carried out to the code and tests SiL, to obtain the control algolithm software program based on Simulink
Code.
3. the motor control software generation method of the electric car based on Simulink, feature exist as claimed in claim 2
In soft to the control algolithm software program based on Simulink, program chains software program, bottom under translation and compiling environment
The step of part program is combined, and carries out automatic process of compilation, obtains binary executable further comprises:
Staking-out work is carried out by the M script, generation can demarcating file.
4. the motor control software generation method of the electric car as described in any one of claims 1 to 3 based on Simulink,
It is characterized in that, further comprising:
In advance the control algolithm software program to described based on Simulink, Bootloader, program chains software program with
And task schedule interface, input/output signal, statement, update opportunity and the global variable in bottom software program carry out unification
Definition.
5. the motor control software generation method of the electric car based on Simulink, feature exist as claimed in claim 4
In described is in advance using the image customization repository design in Simulink to input/output signal progress unified definition
The class-based data type of device CSC Designer design is realized.
6. the motor control software generation method of the electric car based on Simulink, feature exist as claimed in claim 5
In further comprising:
There is the electric machine controller of binary executable to carry out experimental test burning, motor control is modified according to test result
The parameter of simulation, and obtain the control algolithm software program based on Simulink of update.
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