CN109324601A - The test platform of robot controller or control system based on hardware in loop - Google Patents
The test platform of robot controller or control system based on hardware in loop Download PDFInfo
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- CN109324601A CN109324601A CN201811336262.XA CN201811336262A CN109324601A CN 109324601 A CN109324601 A CN 109324601A CN 201811336262 A CN201811336262 A CN 201811336262A CN 109324601 A CN109324601 A CN 109324601A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
- G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
- G05B23/0208—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterized by the configuration of the monitoring system
Abstract
The present invention relates to a kind of robot controller based on hardware in loop or control system test platforms, it is tested for carrying out function and performance test, direct fault location test to robot controller or control system with bus functionality, it is characterized in that, the test macro includes: control signal output module；Control signal input module；Main control module, including simulation object model generation unit, test script generation unit, signal acquisition unit, man-machine interaction unit, direct fault location unit.The present invention is for industrial robot controller or control system becomes increasingly complex, bus structures are various, security requirement is higher and higher, has the characteristics that hard real-time requirement, on the basis of existing research, a kind of half-physical simulation test platform based on robot controller or control system is devised.The platform supports the emulation testing of a variety of robot controllers or control system, and multiple bus interface is supported to extend, can execute test automatically by binding function and performance test, direct fault location test and bus functionality test.Controller or control system versatility of the invention is good, and testing efficiency is high, and real-time effect is good.
Description
Technical field
The present invention relates to a kind of robot controller or control system hardware-in-the-loop test platforms, for robot
The controller or control system of (especially industrial robot) carry out semi-hardware type simulation test.
Background technique
Industrial robot is developed so far, and has converged automatic technology, computer networking technology, sensor technology, electronics electricity
The multiple technologies such as work technology, artificial intelligence technology, mechanics and bionics have reached the intelligence degree of height.At the same time,
The quantity of industrial robot is also constantly increasing, and has obtained large-scale application.And controller or control system are as industry
The core component of robot plays an important role to the safe operation of robot.Therefore, before controller or control system factory
It needs by stringent test.
Make a general survey of industrial machine man-based development, the complexity of controller or control system system is continuously increased.In order to verify control
The design scheme of device processed or control system, and the hidden danger being likely to occur in design is reduced, need to carry out controller or control system
System function, performance test, while whether the design for verifying it meets design requirement.
In addition, controller or control system are gradually from single development of embedded system to multibus, multi-node collaborative
System.Composite network, such as CAN, serial ports, Ethernet, EtherCAT bus type are mostly used between each node, as carrier into
Acquisition, transmission, the control of row information and data, interactive relation is complicated, and bus interface numerous types, quality assurance is problem,
It needs to carry out bus functionality test to it.
Controller or control system become more and more important safely, and cause in safe reason, security breaches also by
Year increases.In order to improve the safety of controller or control system, needs that its loophole is detected and repaired, but manually examine
The cost of survey is too big.Direct fault location test can be used to detect controller or control system, verify its robustness and peace
Quan Xing.
The above industrial robot controller or control system there are aiming at the problem that, the present invention devises a kind of based on industry
The semi-physical emulation platform of robot controller or control system.Important hand of the semi-hardware type simulation test as quality assurance
Section, has been obtained more and more applications, such as bullet train network-control, industrial production and monitoring, satellite gravity anomaly,
Dedicated half-physical simulation test platform is established, but it is all more dedicated, and versatility is inadequate.
Summary of the invention
The object of the present invention is to provide a kind of half specifically for robot controller or control system based on hardware in loop
Physical simulation test platform.
In order to achieve the above object, the robot control based on hardware in loop that the technical solution of the present invention is to provide a kind of
Device or control system test platform, for carrying out function and performance test, direct fault location to robot controller or control system
Test is tested with bus functionality, which is characterized in that the test macro includes:
Signal output module is controlled, for test script to be injected by virtual communication bus via true bus interface
In controller or control system, so that controller or control system are run according to test script, generate for controlling moving component
Control signal；
Signal input module is controlled, for the control signal of controller or control system generation to be passed through virtual communication bus
Input to main control module；
Main control module, including it is simulation object model generation unit, test script generation unit, signal acquisition unit, man-machine
Interactive unit, direct fault location unit, in which:
Direct fault location unit, when carrying out direct fault location test, the fault type common according to controller or control system
And the fault type that can not be loaded automatically in half emulation testing generates fault message, and fault message is injected simulation object model
Generation unit；When carrying out bus functionality test, bus interference signal is generated as needed, bus interference signal is injected virtual
Communication bus；
Simulation object model generation unit, the moving component for being controlled according to controller or control system generate the fortune
The normal state simulation object model of dynamic component, or moving component and failure note for being controlled according to controller or control system
The fault message for entering unit injection generates the fault simulation object model of the moving component, in progress function and performance test or always
When line functional test, the control signal from control signal input module is received by normal state simulation object model, according to control letter
Breath carries out simulated actions, when carrying out direct fault location test, user using man-machine interaction unit in normal state simulation object model and
Selection switching is carried out between fault simulation object model, is come from by normal state simulation object model or the reception of fault simulation object model
The control signal for controlling signal input module carries out simulated actions according to control information；
Test script generation unit, user inputted to test script generation unit by controller using man-machine interaction unit or
The basic parameter and controller of the moving component that control system is controlled or the key parameter of control system, test script generate single
Key parameter is individually stored into original document by member, test script generation unit according to input basic parameter and key parameter with
And the moving component that controller or control system are controlled generates test script；
Signal acquisition unit, after gathering simulation movement, normal state simulation object model and/or fault simulation object model
Simulation data parameter, tested according to simulation data parameter systematic function and performance test, direct fault location test or bus functionality
Test result, and check the test result using man-machine interaction unit.
Preferably, the main control module carries out image conversion editor by LEBVIEW software.
Preferably, the main control module using the LABVIEW measurement I/O module in DAQ data acquisition unit and
XNET unit configures controller or control system using the key parameter by DAQ data acquisition unit, utilizes XNET
Whether module check controller or control system can execute function and performance test, if it can, being tested accordingly again.
Preferably, the main control module is deployed on multiple pc by several user's controls, or is deployed on separate unit PC.
The present invention is complicated for robot system interactive relation, bus types are various, has the characteristics that hard real-time requirement,
On the basis of existing research, a kind of half-physical simulation test platform based on robot controller or control system is devised.
The platform supports a variety of robot controllers by binding function and performance test, direct fault location test and bus functionality test
Or the emulation testing of control system, and multiple bus interface is supported to extend, test can be executed automatically.Controller of the invention
Or control system versatility is good, testing efficiency is high, and real-time effect is good.
Detailed description of the invention
Fig. 1 is total system block diagram of the invention；
Fig. 2 is overall workflow figure of the invention；
Fig. 3 is the schematic diagram of hardware components of the invention；
Fig. 4 is the test flow chart of function and performance test sub-platform；
Fig. 5 is the working state figure of fault model；
Fig. 6 is the working state figure of bus functionality test.
Specific embodiment
Present invention will be further explained below with reference to specific examples.It should be understood that these embodiments are merely to illustrate the present invention
Rather than it limits the scope of the invention.In addition, it should also be understood that, after reading the content taught by the present invention, those skilled in the art
Member can make various changes or modifications the present invention, and such equivalent forms equally fall within the application the appended claims and limited
Range.
On existing Research foundation, a kind of robot controller or control system based on hardware in loop that the present invention designs
The overall technical architecture of test platform is as shown in Figure 1.The present invention is capable of the peripheral test environment of simulating industry robot, to receive
Data as input, and by virtual communication bus by data be passed to measured piece (i.e. be used for robot controller or control
System processed) in.
For semi-hardware type simulation test system of the invention using the design concept of " platform+multi-functional ", platform includes master control mould
Block, controller or control system and control signal input and output module, realize it is multi-functional include may be implemented function and
Performance test, direct fault location (direct fault location) test macro and bus functionality test.Main control module can be deployed on multiple pc
It is controlled, can also be deployed on separate unit PC by several testers, be responsible for test environment configurations, test script is write.Control
Signal input is responsible for interacting entire test environment with output module, provides reliable data communication, and by specific
Test data is injected into controller or control system to complete actual test by bus interface.
The overall workflow of half-physical simulation test platform as shown in Fig. 2, main control module according to by controller or control
The simulation model for the object that system is controlled, the i.e. simulation model of robot motion's component and user are raw from externally input parameter
At test script, which is injected into controller via true bus interface by the virtual bus of hardware-in-the-loop environment
Or in control system.Controller or control system are run according to the testing and control script of generation, the real-time acquisition control of main control module
The output data of device or control system simultaneously carries out respective handling.
As shown in figure 3, the hardware components for the semi-hardware type simulation test system that the present invention designs include master control, data collecting card
And display screen.Main control module includes signal processing module and model emulation module, is patterned volume by LABVIEW software
Journey, and corresponding test port is configured, export required control signal.Data collecting card be responsible for acquire motor current signal or
The signals such as person's controller or the voltage of control system, the electric current and rotary speed information of split-phase motor in LABVIEW software, and draw
Produce the curve of needs.Finally, determining the control performance of controller or control system by analyzing specific curve.
The test object for the robot controller or control system test platform based on hardware in loop that the present invention designs is
The controller or control system of industrial robot, the controller or control system use true controller or control system, right
The moving component of robot is emulated, by the Building of Simulation Model of foundation in PC.The moving component of robot includes electronic
The important spare parts such as machine, driver.This test platform is automated using a set of controller of LabVIEW software design or control system
Test macro, it can test various controller or control system.In the present embodiment, test platform uses bus and controller
Or control system is communicated, and can be stablized, rapidly be carried out data transmission.
In the present invention, controller or control system are component to be tested, are the kernel components of industrial robot, it
Control the operation mode and state of industrial robot.Controller or the signal of control system include power supply signal, motor signal,
Speed signal, sensor signal etc..Signal type includes analog signal, pwm signal and digital signal, is covered most of common
Signal type.In the control process of industrial robot, to allow controller or control system to work normally, it is necessary to provide conjunction
Suitable input signal and CAN signal, and its performance quality can be evaluated by acquiring its output signal.In the present invention, it surveys
The object of examination includes at least the control of the types such as Cartesian robot, tripod robot, parallel robot, articulated mechanical arm
Device or control system.
Main control module is described by with three different test functions that the present invention realizes below:
1) function and performance test sub-platform
This platform is substantially carried out the function and performance test of controller or control system.Function and performance test belong to control
Last test of device or control system factory, but since there are test period length, test item for traditional manual test
The deficiencies of more, is no longer satisfied the demand of fast pace test.
In function and performance test sub-platform, the simulation model of robot motion's component is established, simulation model is controlling
Under the control of device or control system when simulation run, it is acquired in real time and controls information, completes the function of controller or control system
And performance test.Wherein, it can be realized the real-time simulation of Microsecond grade by the simulation model that LABVIEW is established, meet common control
Device processed or control system hardware-in-the-loop simulation requirement.In addition to efficient real-time simulation, in master control periphery, it is also necessary to which A/D turns
It changes, PWM is detected and the modules such as position sensor, the terminal as control signal.In addition, controller or control system peripheral hardware
On multi-channel digital and analogue conversion module for detecting the information such as the voltage, electric current and temperature of controller or control system.
Main control module mainly includes embedded controller or control system, and embedded controller or control system are mainly applicable in
In modular instrument and data acquisition applications.Meanwhile main control module include direct fault location hard disk drive, serial port and other
Peripheral hardware I/O.Motor current signal to be measured is converted lesser current signal or voltage signal by data acquisition module, with
Convenient for the collecting work with data collecting card.
In numerous programing works, the selection of this test platform is LABVIEW programming software.The language that LABVIEW is used
Speech is different from other text programming languages, it is graphical programming language, using graphic programming mode, by the control of needs or
Person's tool is added in front panel or program flow diagram.LABVIEW has the working method of multithreading, can be complete simultaneously
At multiple tasks.At the beginning of test, tester, which need to only click, to be started to test, and master control can be automatically performed entire test
Process, including the test under specific function, performance curve, the judgement of each evaluation index, the preservation of test data, different operating conditions
Data etc..
The test process of entire function and performance test sub-platform is as shown in Figure 4.Parameter configuration: data collecting card acquisition control
The voltage or current signal of device processed or control system, and this signal is transmitted in master control.DAQ to the corresponding board of bus into
Row configuration, pwm signal needed for enabling master control o controller or control system, digital signal and analog voltage signal etc..
XNET module is mainly used for exporting CAN signal.Check whether controller or control system can execute function, performance test, such as
Fruit can be then to be tested accordingly.With the input module of the human-computer interaction module of LABVIEW, input corresponds to controller
Or the basic parameter of the control object of control system, and will be in controller or the key parameter of control system write-in original document.
When carrying out the test of different controller or control system, it is only necessary to which the key parameter for changing control object avoids man-machine
The complicated processes of interactive interface toggled.According to testing requirement, the type including controller or control system, selection is accordingly
Test-types.When testing completion, the curve of curve and key parameter that test obtains is saved.
2) direct fault location tests sub-platform
Controller or control system function and performance test are essential, its energy in industrial robot testing process
It is enough detect to the greatest extent robot in the process of running it is possible that some functional problems.Since half material object is imitative
The reason of very existing test environment without outdoor scene, much the problem in actual moving process, possibly can not expose
Come.This test platform contains controller or the test of control system direct fault location or direct fault location test.
For the safety of preferably access control device or control system, on the basis of function, performance test sub-platform,
Platform building direct fault location tests sub-platform.Platform can according to robot controller or the most common failure type of control system,
And the fault type that can not be loaded automatically in the test of HWIL simulation, it separately designs with faulty object model, and
And human-computer interaction interface is devised to switch normal subjects model and fault object model.In simulation process, it can also pass through
Change the significant coefficient in fault object model to modify fault type.The working condition of fault model is as shown in Figure 5.
3) bus functionality tests sub-platform
Bus functionality test can from the physical characteristic of bus, communication data and network behavior it is several in terms of carry out access control
Whether device or control system meet the design requirement of bus.In access control device or control system real-time status and user demand
While accordance, bus functionality test or the controller in later period or control system rectification provide foundation.
The testing tool that bus functionality test sub-platform needs has power supply, multimeter, oscillograph, signal generator etc..It is first
First, in bus functionality test process, test program is write, simulation node is set, configures test condition；In the process of test
In, monitor the moving wave shape of bus, and the quality of its signal is analyzed with this；In case there is a need, input bus interferes
Related data, be used to emulation bus failure；Finally, the data of record Self -adaptive, and generate test report.Bus functionality is surveyed
The working condition of examination is as shown in Figure 6.
Claims (4)
1. a kind of robot controller or control system test platform based on hardware in loop, for robot controller or control
System processed carries out function and performance test, direct fault location test are tested with bus functionality, which is characterized in that the test macro packet
It includes:
Signal output module is controlled, for test script to be injected into control via true bus interface by virtual communication bus
In device or control system, so that controller or control system are run according to test script, the control for controlling moving component is generated
Signal processed；
Signal input module is controlled, for inputting the control signal of controller or control system generation by virtual communication bus
To main control module；
Main control module, including simulation object model generation unit, test script generation unit, signal acquisition unit, human-computer interaction
Unit, direct fault location unit, in which:
Direct fault location unit, when carrying out direct fault location test, according to controller or the common fault type of control system and
The fault type that can not be loaded automatically in half emulation testing generates fault message, and fault message injection simulation object model is generated
Unit；When carrying out bus functionality test, bus interference signal is generated as needed, and bus interference signal is injected into virtual communication
Bus；
Simulation object model generation unit, the moving component for being controlled according to controller or control system generate the movement portion
The normal state simulation object model of part, or moving component and direct fault location list for being controlled according to controller or control system
The fault message of member injection generates the fault simulation object model of the moving component, is carrying out function and performance test or bus function
When can test, by normal state simulation object model receive from control signal input module control signal, according to control information into
Row simulated actions, when carrying out direct fault location test, user is using man-machine interaction unit in normal state simulation object model and failure
Selection switching is carried out between simulation object model, is received by normal state simulation object model or fault simulation object model from control
The control signal of signal input module carries out simulated actions according to control information；
Test script generation unit, user are inputted to test script generation unit by controller or control using man-machine interaction unit
The basic parameter and controller of the moving component that system is controlled or the key parameter of control system, test script generation unit list
Key parameter is solely stored into original document, test script generation unit is according to the basic parameter and key parameter of input and control
The moving component that device processed or control system are controlled generates test script；
Signal acquisition unit, after gathering simulation movement, normal state simulation object model and/or fault simulation object model it is imitative
True output parameter, according to simulation data parameter systematic function and the survey of performance test, direct fault location test or bus functionality test
Conclusion is tried, and checks the test result using man-machine interaction unit.
2. a kind of robot controller or control system test platform based on hardware in loop as described in claim 1, special
Sign is that the main control module carries out image conversion editor by LEBVIEW software.
3. a kind of robot controller or control system test platform based on hardware in loop as claimed in claim 2, special
Sign is that the main control module utilizes the DAQ data acquisition unit and XNET unit in the measurement I/O module of the LABVIEW,
Controller or control system are configured using the key parameter by DAQ data acquisition unit, utilize XNET module check
Whether controller or control system can execute function and performance test, if it can, being tested accordingly again.
4. a kind of robot controller or control system test platform based on hardware in loop as described in claim 1, special
Sign is that the main control module is deployed on multiple pc by several user's controls, or is deployed on separate unit PC.
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