CN111221326A - System and method for realizing hardware-in-loop test control based on Simulink real-time simulation system - Google Patents
System and method for realizing hardware-in-loop test control based on Simulink real-time simulation system Download PDFInfo
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- CN111221326A CN111221326A CN202010139791.1A CN202010139791A CN111221326A CN 111221326 A CN111221326 A CN 111221326A CN 202010139791 A CN202010139791 A CN 202010139791A CN 111221326 A CN111221326 A CN 111221326A
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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
- G05B23/0213—Modular or universal configuration of the monitoring system, e.g. monitoring system having modules that may be combined to build monitoring program; monitoring system that can be applied to legacy systems; adaptable monitoring system; using different communication protocols
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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
- G05B17/00—Systems involving the use of models or simulators of said systems
- G05B17/02—Systems involving the use of models or simulators of said systems electric
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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
- G05B23/0216—Human interface functionality, e.g. monitoring system providing help to the user in the selection of tests or in its configuration
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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
- G05B23/0218—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterised by the fault detection method dealing with either existing or incipient faults
- G05B23/0256—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterised by the fault detection method dealing with either existing or incipient faults injecting test signals and analyzing monitored process response, e.g. injecting the test signal while interrupting the normal operation of the monitored system; superimposing the test signal onto a control signal during normal operation of the monitored system
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Abstract
The invention relates to a system for realizing hardware-in-loop test control based on a Simulink real-time simulation system, which comprises a PC (personal computer), a CAN (controller area network) card, an electronic control unit controller and a signal acquisition board card, wherein the CAN card is connected with the PC, the electronic control unit controller and the CAN card carry out information interaction through a CAN bus, the signal acquisition board card and the electronic control unit controller carry out information interaction through hard line signals, and the signal acquisition board card is connected with the PC. The invention also relates to a method for realizing hardware-in-loop test control based on the Simulink real-time simulation system. The system and the method for realizing the hardware-in-the-loop test control based on the Simulink real-time simulation system do not need a simulation hardware platform, and the test cost is reduced. The test platform has the advantages of small volume, clear system structure and simple hardware installation and operation. The test platform has short development period and strong reusability, can meet the test of different types of the same ECU and different combinations of a plurality of ECUs, and improves the test efficiency.
Description
Technical Field
The invention relates to the field of vehicle machinery, in particular to the technical field of new energy automobile simulation, and specifically relates to a system and a method for realizing hardware-in-the-loop test control based on a Simulink real-time simulation system.
Background
The hardware loop test is an important loop in the V-mode development process, and a simulation hardware platform is often used to run a running environment simulation model of the tested ECU, and communication with the tested ECU is realized through an interface, so that the tested ECU can work in a virtual running environment, and function test and policy verification of the tested ECU are realized.
However, the conventional hardware-in-the-loop test has the following disadvantages:
(1) the simulation hardware platform required by the prior art is expensive.
(2) The system structure of the prior art scheme is complex, the required development period is long, and the operation is complex.
(3) The existing hardware-in-loop simulation platform has large volume, more test equipment and complex hardware installation links, so that the reusability of the test platform is relatively weak.
Simulink is a visual simulation tool in MATLAB, is a block diagram design environment based on MATLAB, is a software package for realizing dynamic system modeling, simulation and analysis, and is widely applied to modeling and simulation of linear systems, nonlinear systems, digital control and digital signal processing.
Simulink provides an integrated environment for dynamic system modeling, simulation and comprehensive analysis. In this environment, a complex system can be constructed without a large number of writing programs, but only by simple and intuitive mouse operation.
The invention skillfully utilizes the real-time simulation function of Simulink, forms a novel hardware-in-the-loop system with the CAN card, the signal acquisition board card and the tested ECU, and CAN overcome the defects of the prior art.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a system and a method for realizing hardware-in-the-loop test control based on a Simulink real-time simulation system, which are simple and convenient to operate, simple in structure and wide in application range.
In order to achieve the above purpose, the system and the method for realizing the hardware-in-the-loop test control based on the Simulink real-time simulation system of the invention are as follows:
the system for realizing hardware-in-loop test control based on the Simulink real-time simulation system is mainly characterized by comprising a PC (personal computer), a CAN (controller area network) card, an electronic control unit controller and a signal acquisition board card, wherein the CAN card is connected with the PC, the electronic control unit controller and the CAN card carry out information interaction through a CAN bus, the signal acquisition board card and the electronic control unit controller carry out information interaction through a hard-line signal, and the signal acquisition board card is connected with the PC.
Preferably, the PC is provided with a Simulink simulation model, a CAN card tool box and a signal acquisition tool box, the CAN card tool box is connected with a CAN card, and the signal acquisition tool box is connected with a signal acquisition board card.
Preferably, the signal acquisition board card comprises a digital quantity input/output module, an analog-to-digital and digital-to-analog conversion module and a pulse width modulation module, and the digital quantity input/output module, the analog-to-digital and digital-to-analog conversion module and the pulse width modulation module are all connected with the PC and the electronic control unit controller.
The method for realizing hardware-in-loop test control based on the Simulink real-time simulation system by using the system is mainly characterized by comprising the following steps of:
(1) configuring a universal input/output board card and a CAN card;
(2) building an external simulation model of the tested electronic control unit in Simulink, and simulating the actual operating environment of the controller of the tested electronic control unit;
(3) designing a human-computer interaction interface of the ring test system through a tool box;
(4) associating components in the graphical user interface with corresponding variables and parameters in the model;
(5) setting the simulation mode as a real-time simulation mode;
(6) and operating a Simulink real-time simulation system, and performing hardware-in-loop test on the tested electronic control unit.
Preferably, the step of configuring the general IO board card and the CAN card in step (1) specifically includes: and carrying out resource allocation on the analog quantity and the digital quantity, and setting a CAN channel.
Preferably, in the step (2), the building of the external simulation model of the tested electronic control unit is realized through modularization.
Preferably, the human-computer interface in step (3) is used for controlling and monitoring the whole test system.
Compared with the prior art, the system and the method for realizing the hardware-in-loop test control based on the Simulink real-time simulation system do not need a simulation hardware platform, and the test cost is reduced. The test platform has the advantages of small volume, clear system structure and simple hardware installation and operation. The test platform has short development period and strong reusability, can meet the test of different types of the same ECU and different combinations of a plurality of ECUs, and improves the test efficiency.
Drawings
Fig. 1 is a structural diagram of a system for implementing hardware-in-the-loop test control based on a Simulink real-time simulation system according to the present invention.
FIG. 2 is a flowchart of a method for implementing hardware-in-the-loop test control based on a Simulink real-time simulation system according to the present invention.
Fig. 3 is a structural diagram of an embodiment of a system for implementing hardware-in-the-loop test control based on a Simulink real-time simulation system according to the present invention.
Detailed Description
In order to more clearly describe the technical contents of the present invention, the following further description is given in conjunction with specific embodiments.
The system for realizing hardware-in-loop test control based on the Simulink real-time simulation system comprises a PC (personal computer), a CAN (controller area network) card, an electronic control unit controller and a signal acquisition board card, wherein the CAN card is connected with the PC, the electronic control unit controller and the CAN card carry out information interaction through a CAN bus, the signal acquisition board card and the electronic control unit controller carry out information interaction through a hard wire signal, and the signal acquisition board card is connected with the PC.
As a preferred embodiment of the present invention, the PC is installed with a Simulink simulation model, a CAN card tool box and a signal acquisition tool box, the CAN card tool box is connected with a CAN card, and the signal acquisition tool box is connected with a signal acquisition board card.
As a preferred embodiment of the present invention, the signal acquisition board card includes a digital input/output module, an analog-to-digital and digital-to-analog conversion module, and a pulse width modulation module, and the digital input/output module, the analog-to-digital and digital-to-analog conversion module, and the pulse width modulation module are all connected to a PC and an electronic control unit controller.
The method for realizing hardware-in-loop test control based on the Simulink real-time simulation system by utilizing the system comprises the following steps:
(1) configuring a universal input/output board card and a CAN card;
(2) building an external simulation model of the tested electronic control unit in Simulink, and simulating the actual operating environment of the controller of the tested electronic control unit;
(3) designing a human-computer interaction interface of the ring test system through a tool box;
(4) associating components in the graphical user interface with corresponding variables and parameters in the model;
(5) setting the simulation mode as a real-time simulation mode;
(6) and operating a Simulink real-time simulation system, and performing hardware-in-loop test on the tested electronic control unit.
As a preferred embodiment of the present invention, the step of configuring the general IO board card and the CAN card in step (1) specifically includes: and carrying out resource allocation on the analog quantity and the digital quantity, and setting a CAN channel.
As a preferred embodiment of the present invention, in the step (2), the building of the external simulation model of the electronic control unit to be tested is realized through modularization.
As a preferred embodiment of the present invention, the human-computer interface in step (3) is used for controlling and monitoring the whole test system.
The existing hardware-in-loop test system needs a simulation hardware platform, and the simulation hardware platform is expensive. And the existing hardware has a complex structure in a ring test system, and has no advantages in the aspects of hardware installation and use operation. The invention makes full use of a Simulink real-time simulation system, and combines a CAN card, a signal acquisition board card and a measured controller to form a novel hardware-in-loop test scheme. The scheme can well overcome the defects in the prior art and further improve the advantage of hardware-in-the-loop testing.
The invention provides a hardware-in-the-loop test system and method based on a Simulink real-time simulation system.
Wherein, the PC is provided with an MATLAB (Simulink, App Designer), a CAN card tool box and a signal acquisition tool box;
the signal acquisition board card comprises a digital IO module, an AD/DA module, a PWM module and the like, and performs information interaction with the ECU through a hard-wired signal;
and the CAN card and the ECU carry out information interaction through a CAN bus. The implementation steps of the technical scheme are as follows:
(1) configuring a universal IO board card and a universal CAN card, wherein the configuration comprises the allocation of resources such as analog quantity, digital quantity and the like and the setting of a CAN channel;
(2) building an external simulation model of the tested ECU in Simulink, and simulating the actual operating environment of the tested ECU;
(3) designing a human-computer interaction interface (GUI) of a hardware-in-the-loop test system in an MATLAB by means of an App Designer tool box, wherein the GUI is used for controlling and monitoring the whole test system in the test process;
(4) associating components in the GUI with corresponding variables and parameters in the model;
(5) setting a simulation mode of Simulink as a real-time simulation mode;
(6) and operating a Simulink real-time simulation system, and performing hardware-in-loop test on the ECU to be tested.
The PC simulates a simulation hardware platform, runs the tested ECU running environment simulation model in real time, message signals output by the simulation model are sent to the tested ECU through the CAN card, and the message signals output by the tested ECU are sent to the simulation model through the CAN card, so that information interaction between the tested ECU and the running environment simulation model is realized;
the GUI interface of the test system is mainly used for man-machine interaction, and a user can conveniently control and monitor the whole test system in the test process. The GUI interface comprises an instruction sending module, a real-time data display and recording module and a fault state injection and monitoring module. In the testing process, an instruction is sent to the operating environment simulation model through the instruction sending module, the change of relevant parameters is displayed through the real-time data display and recording module, a fault is injected into the testing system through the fault state injection and monitoring module, and then the working state of the ECU to be tested is observed.
The hardware-in-the-loop test system can perform algorithm function verification, diagnosis function verification, network communication verification, integration test verification, limit working condition test and real vehicle problem reproduction. Meanwhile, various complex working conditions can be simulated, and various system faults can be simulated.
The present invention uses a pure electric Vehicle Controller Unit (VCU) as a tested object to perform hardware-in-loop test as a specific embodiment, and the present embodiment is implemented on the premise of the technical solution of the present invention, and a detailed implementation manner and a specific operation process are given, but the protection scope of the present invention is not limited to the following embodiments.
The hardware installation of the VCU-HIL test system is performed according to the relationship of the components shown in fig. 3. The hardware-in-the-loop test system based on the Simulink real-time simulation system comprises a PC (personal computer), a vehicle control unit, CANnase VN1640 of Vector and an NI-DAQmx signal acquisition board card. Wherein, the PC is provided with MATLAB (Simulink, App Designer), CANoe toolbox and NI-DAQmx toolbox; the signal acquisition board card comprises a digital IO module, an AD/DA module and a PWM module. The signal acquisition board card carries out information interaction with the vehicle control unit through a hard-wired signal; information interaction is carried out between the CANnase VN1640 and the vehicle control unit through a CAN bus. The implementation steps of the technical scheme are as follows:
(1) configuring a universal IO board card and a universal CAN card, wherein the configuration comprises the allocation of resources such as analog quantity, digital quantity and the like and the setting of a CAN channel;
(2) building a running environment model of the VCU: the pure electric vehicle simulation model designed by the invention is built based on MATLAB/Simulink, and the building of the simulation model is completed by adopting a modularized modeling method according to the test requirements and functions of a pure electric vehicle VCU hardware-in-the-loop test system. The model comprises main parts and accessory functional modules of the pure electric vehicle. According to different realized functions, the simulation model can be divided into a whole vehicle dynamics model, a motor model, a battery model, a vacuum pump and other accessory models.
(3) Using App Designer toolkit, design the human-machine interaction interface (GUI) of the test system: the GUI interface of the VCU hardware-in-the-loop test system of the pure electric vehicle is mainly used for man-machine interaction, and a user can conveniently control and monitor the whole test system in the test process. The realized functions mainly comprise the transmission of driving instructions, the display and recording of vehicle real-time data, and the injection and monitoring of fault states.
(4) Associating the components in the GUI with corresponding variables and parameters in the model: and (3) associating the components in the GUI interface designed in the step (3) with the corresponding variables and parameters in the model in the step (2), changing the related parameters in the model by operating the GUI interface components, and simultaneously displaying the change of the related parameters in real time by the GUI interface related components.
(5) And setting the simulation mode of Simulink as a real-time simulation mode.
(6) And performing hardware-in-loop test on the tested ECU.
Compared with the prior art, the system and the method for realizing the hardware-in-loop test control based on the Simulink real-time simulation system do not need a simulation hardware platform, and the test cost is reduced. The test platform has the advantages of small volume, clear system structure and simple hardware installation and operation. The test platform has short development period and strong reusability, can meet the test of different types of the same ECU and different combinations of a plurality of ECUs, and improves the test efficiency.
In this specification, the invention has been described with reference to specific embodiments thereof. It will, however, be evident that various modifications and changes may be made thereto without departing from the broader spirit and scope of the invention. The specification and drawings are, accordingly, to be regarded in an illustrative rather than a restrictive sense.
Claims (7)
1. A system for realizing hardware-in-loop test control based on a Simulink real-time simulation system is characterized by comprising a PC (personal computer), a CAN (controller area network) card, an electronic control unit controller and a signal acquisition board card, wherein the CAN card is connected with the PC, the electronic control unit controller and the CAN card carry out information interaction through a CAN bus, the signal acquisition board card and the electronic control unit controller carry out information interaction through a hard wire signal, and the signal acquisition board card is connected with the PC.
2. The system for realizing hardware-in-the-loop test control based on the Simulink real-time simulation system according to claim 1, wherein the PC is provided with a Simulink simulation model, a CAN card tool box and a signal acquisition tool box, the CAN card tool box is connected with a CAN card, and the signal acquisition tool box is connected with a signal acquisition board card.
3. The system for realizing hardware-in-the-loop test control based on the Simulink real-time simulation system according to claim 1, wherein the signal acquisition board card comprises a digital quantity input and output module, an analog-to-digital and digital-to-analog conversion module and a pulse width modulation module, and the digital quantity input and output module, the analog-to-digital and digital-to-analog conversion module and the pulse width modulation module are all connected with a PC (personal computer) and an electronic control unit controller.
4. A method for implementing hardware-in-the-loop test control based on Simulink real-time simulation system using the system of claim 1, the method comprising the steps of:
(1) configuring a universal input/output board card and a CAN card;
(2) building an external simulation model of the tested electronic control unit in Simulink, and simulating the actual operating environment of the controller of the tested electronic control unit;
(3) designing a human-computer interaction interface of the ring test system through a tool box;
(4) associating components in the graphical user interface with corresponding variables and parameters in the model;
(5) setting the simulation mode as a real-time simulation mode;
(6) and operating a Simulink real-time simulation system, and performing hardware-in-loop test on the tested electronic control unit.
5. The method for realizing hardware-in-the-loop test control based on the Simulink real-time simulation system according to claim 4, wherein the step of configuring the general IO board card and the CAN card in the step (1) specifically comprises the following steps: and carrying out resource allocation on the analog quantity and the digital quantity, and setting a CAN channel.
6. The method for realizing hardware-in-loop test control based on Simulink real-time simulation system according to claim 4, wherein the step (2) is implemented by building an external simulation model of the tested electronic control unit through modularization.
7. The method for realizing hardware-in-the-loop test control based on Simulink real-time simulation system as claimed in claim 4, wherein the human-computer interface in step (3) is used for controlling and monitoring the whole test system.
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112181820A (en) * | 2020-09-24 | 2021-01-05 | 北京车和家信息技术有限公司 | Method for building vehicle simulation environment and method and device for positioning vehicle system problems |
| CN112362362A (en) * | 2020-11-16 | 2021-02-12 | 东风越野车有限公司 | Offline whole vehicle logic test system and test method |
| CN113253700A (en) * | 2021-04-14 | 2021-08-13 | 合肥国轩高科动力能源有限公司 | Hardware-in-loop closed-loop test method and system for battery management system |
| CN113253704A (en) * | 2020-12-29 | 2021-08-13 | 际络科技(上海)有限公司 | Simulation test method, device and system for vehicle ECU and electronic equipment |
| CN113759245A (en) * | 2021-09-14 | 2021-12-07 | 许昌开普检测研究院股份有限公司 | Relay protection static mold test and dynamic mold test method based on unified hardware platform |
| CN114817001A (en) * | 2022-03-31 | 2022-07-29 | 重庆长安新能源汽车科技有限公司 | Automatic testing tool and automatic testing method for Simulink model |
| EP4372598A1 (en) * | 2022-11-17 | 2024-05-22 | Volvo Autonomous Solutions AB | A platform-independent unified model for simulating a road vehicle |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112181820A (en) * | 2020-09-24 | 2021-01-05 | 北京车和家信息技术有限公司 | Method for building vehicle simulation environment and method and device for positioning vehicle system problems |
| CN112362362A (en) * | 2020-11-16 | 2021-02-12 | 东风越野车有限公司 | Offline whole vehicle logic test system and test method |
| CN113253704A (en) * | 2020-12-29 | 2021-08-13 | 际络科技(上海)有限公司 | Simulation test method, device and system for vehicle ECU and electronic equipment |
| CN113253704B (en) * | 2020-12-29 | 2022-08-19 | 际络科技(上海)有限公司 | Simulation test method, device and system for vehicle ECU and electronic equipment |
| CN113253700A (en) * | 2021-04-14 | 2021-08-13 | 合肥国轩高科动力能源有限公司 | Hardware-in-loop closed-loop test method and system for battery management system |
| CN113759245A (en) * | 2021-09-14 | 2021-12-07 | 许昌开普检测研究院股份有限公司 | Relay protection static mold test and dynamic mold test method based on unified hardware platform |
| CN114817001A (en) * | 2022-03-31 | 2022-07-29 | 重庆长安新能源汽车科技有限公司 | Automatic testing tool and automatic testing method for Simulink model |
| EP4372598A1 (en) * | 2022-11-17 | 2024-05-22 | Volvo Autonomous Solutions AB | A platform-independent unified model for simulating a road vehicle |
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