CN113238491A - Simulation test method and device for actuating mechanism, intelligent arm support and engineering vehicle - Google Patents
Simulation test method and device for actuating mechanism, intelligent arm support and engineering vehicle Download PDFInfo
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Abstract
The application provides a simulation test method and device for an execution mechanism, an intelligent arm support and an engineering vehicle, wherein variable address information of an operation variable in an execution file is obtained, the operation variable on a variable address can be determined according to the variable address information, the value of the operation variable in the execution file of the execution mechanism is determined, result address information of an output result of the execution mechanism in the execution file is obtained, the output result of the execution mechanism after the execution mechanism operates the operation variable with the determined value is obtained based on the result address information, so that modification and result obtaining of the operation variable in the execution file of the execution mechanism can be realized through communication interaction without being limited by a code language, simulation test on the execution mechanism is realized, and convenience and accuracy of the simulation test are improved.
Description
Technical Field
The application relates to the technical field of simulation test of execution mechanisms, in particular to a simulation test method and device of an execution mechanism, an intelligent arm support and an engineering vehicle.
Background
With the continuous development of automation technology of mechanical equipment, more and more mechanical equipment starts to adopt local or overall automation operation. An actuator of the mechanical equipment such as an automatic pump truck is an arm support, and a control system of the arm support is an important component of the arm support of the mechanical equipment (such as a pump truck) and bears important tasks such as drive control, fault monitoring and intelligent regulation of the arm support. Therefore, the control system of the boom is decisive for the working state and performance of the boom in actual work.
In order to determine that the control system of the execution mechanism is suitable for the current execution mechanism and the actual working condition, the control system of the execution mechanism can be tested by establishing a simulation model, and the working condition information of the execution mechanism in the actual working process can be simulated by changing the operation variables of the simulation model so as to obtain the working state of the execution mechanism, so that whether the control system of the execution mechanism meets the requirements or not can be judged. However, most of the existing simulation models of the execution mechanism are realized by simulation software such as MATLAB, and the whole vehicle control algorithm of mechanical equipment such as a pump vehicle is realized on a CODESYS (Controlled Development System) platform. The language used by the CODESYS platform is ST language (Structured text language) and is incompatible with MATLAB language, so that a conversion model and a migration code are often required in a simulation process, the simulation test process is complex, and test inaccuracy may be caused by the conversion model and the migration code.
Disclosure of Invention
The present application is proposed to solve the above-mentioned technical problems. The embodiment of the application provides a simulation test method and device for an execution mechanism, an intelligent arm support and an engineering vehicle, and solves the problems that the simulation test process of the execution mechanism is complex and the accuracy is low.
According to one aspect of the application, a simulation test method of an execution mechanism is provided, which comprises the following steps: acquiring variable address information of an operation variable in an execution file of an execution mechanism; wherein the variable address information characterizes a specific location of the run variable in the execution file; determining a value of the run variable in the execution file based on the variable address information; acquiring result address information of an output result of the execution mechanism in the execution file; wherein the result address information represents a specific position of an output result of the execution mechanism in the execution file; acquiring an output result of the execution mechanism based on the result address information; and the output result of the actuating mechanism is obtained after operation based on the value of the operation variable.
By acquiring the variable address information of the operation variables in the execution file, the operation variables on the variable addresses can be determined according to the variable address information, the result address information of the output result of the execution mechanism in the execution file is acquired, and the output result of the execution mechanism after the execution mechanism operates the operation variables with determined values is acquired based on the result address information, so that the operation variables in the execution file of the execution mechanism can be modified and the result can be acquired through communication interaction without being limited by a code language, the simulation test of the execution mechanism is realized, and the convenience and the accuracy of the simulation test are improved.
In an embodiment, the determining, based on the variable address information, the value of the execution variable in the execution file includes: and acquiring or/and modifying the value of the operation variable in the execution file based on the variable address information.
By acquiring the variable address information of the operation variables in the execution file, the operation variables on the variable addresses can be modified according to the variable address information, so that the operation variables in the execution file of the execution mechanism can be modified through communication interaction without being limited by a code language, and the simulation test of the execution mechanism is realized.
In an embodiment, the obtaining variable address information of the run variable in the execution file of the execution mechanism includes: recording a variable storage starting position and a variable byte length of the operation variable; and acquiring the variable address information according to the variable storage starting position and the variable byte length.
By recording the variable storage starting position and the variable byte length of the operation variable in the execution file, the variable address information of the corresponding operation variable can be accurately determined according to the variable storage starting position and the variable byte length, and then the value of the operation variable in the execution file can be accurately modified.
In an embodiment, the obtaining result address information of the output result of the execution mechanism in the execution file includes: recording a result storage starting position and a result byte length of an output result of the execution mechanism; and acquiring the result address information according to the result storage starting position and the result byte length.
By recording the result storage starting position and the result byte length of the output result of the execution mechanism in the execution file, the result address information of the output result of the corresponding execution mechanism can be accurately determined according to the result storage starting position and the result byte length, and then the value of the output result of the execution mechanism in the execution file can be accurately obtained.
In an embodiment, the manner of acquiring the execution file of the execution mechanism includes: generating an execution code according to the simulation model of the execution mechanism; and compiling the execution code to obtain the execution file.
The execution code is automatically generated through the simulation model, and the execution code is compiled to obtain the execution file of the execution mechanism, so that the execution file can be directly realized by utilizing the existing simulation model, and the comprehensive simulation test of the execution mechanism can be simply realized on the premise of not reconstructing the simulation model so as to improve the test accuracy.
In an embodiment, after the obtaining the output result of the actuator, the method for simulation testing of the actuator further includes: and combining the output result of the executing mechanism and the finished automobile output result of the finished automobile logic control simulation model corresponding to the executing mechanism to comprehensively obtain a test result.
By combining the output result of the execution mechanism and the finished automobile output result of the finished automobile logic control simulation model corresponding to the execution mechanism, the operation variables in the execution file of the execution mechanism are adjusted on the same platform, the output result of the arm support output after the execution mechanism operates is obtained, and then the finished automobile output result is combined, so that the simulation test can be performed on the execution mechanism more comprehensively and close to the actual working state, and the accuracy of the simulation test is improved.
In an embodiment, the combining the output result of the execution mechanism and the vehicle output result of the vehicle logic control simulation model corresponding to the execution mechanism includes: and adjusting the output result of the actuating mechanism according to the limited relation between the output result of the whole vehicle and the output result of the actuating mechanism.
According to the limited relation between the finished automobile output result and the output result of the actuating mechanism, the output result of the actuating mechanism can be changed while the finished automobile parameters are set, so that the output result of the actuating mechanism in the actual working condition operation is closer to the output result of the actuating mechanism in the actual working condition operation, and the actuating mechanism is tested in a more accurate simulation mode.
According to an aspect of the present application, there is provided a simulation test apparatus of an actuator, including: the variable address acquisition module is used for acquiring variable address information of the operation variables in the execution file of the execution mechanism; wherein the variable address information characterizes a specific location of the run variable in the execution file; a variable determining module, configured to determine a value of the operation variable in the execution file based on the variable address information; a result address obtaining module, configured to obtain result address information of an output result of the execution mechanism in the execution file; wherein the result address information represents a specific position of an output result of the execution mechanism in the execution file; the result acquisition module is used for acquiring the output result of the execution mechanism based on the result address information; and the output result of the actuating mechanism is obtained after operation based on the value of the operation variable.
The variable address acquisition module is used for acquiring the variable address information of the operation variables in the execution file, the variable determination module can determine the operation variables on the variable addresses according to the variable address information, the result address acquisition module is used for acquiring the result address information of the output result of the execution mechanism in the execution file, and the result acquisition module is used for acquiring the output result of the execution mechanism after the execution mechanism operates the operation variables with determined values based on the result address information, so that the modification and the result acquisition of the operation variables in the execution file of the execution mechanism can be realized through communication interaction without being limited by a code language, the simulation test of the execution mechanism is realized, and the convenience and the accuracy of the simulation test are improved.
According to an aspect of the present application, there is provided an intelligent boom, including: a processor; a memory for storing the processor-executable instructions; the processor is used for executing the simulation test method of any one of the execution mechanisms.
According to an aspect of the present application, there is provided a work vehicle including: a processor; a memory for storing the processor-executable instructions; the processor is used for executing the simulation test method of any one of the execution mechanisms.
Drawings
The above and other objects, features and advantages of the present application will become more apparent by describing in more detail embodiments of the present application with reference to the attached drawings. The accompanying drawings are included to provide a further understanding of the embodiments of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the principles of the application. In the drawings, like reference numbers generally represent like parts or steps.
Fig. 1 is a schematic diagram of a structure of an application scenario according to an exemplary embodiment of the present application.
Fig. 2 is a schematic flowchart of a simulation testing method for an actuator according to an exemplary embodiment of the present application.
Fig. 3 is a schematic flowchart of a simulation testing method for an actuator according to another exemplary embodiment of the present application.
Fig. 4 is a flowchart illustrating an acquisition method of an execution file according to an exemplary embodiment of the present application.
Fig. 5 is a schematic structural diagram of a simulation testing apparatus for an actuator according to an exemplary embodiment of the present application.
Fig. 6 is a schematic structural diagram of a simulation testing apparatus for an actuator according to another exemplary embodiment of the present application.
Fig. 7 is a structural diagram of an intelligent boom provided in an exemplary embodiment of the present application.
Fig. 8 is a structural diagram of a construction vehicle according to an exemplary embodiment of the present application.
Detailed Description
Hereinafter, example embodiments according to the present application will be described in detail with reference to the accompanying drawings. It should be understood that the described embodiments are only some embodiments of the present application and not all embodiments of the present application, and that the present application is not limited by the example embodiments described herein.
Summary of the application
An actuator of mechanical equipment such as an automatic pump truck is an arm support, and in order to realize the automatic operation of the pump truck, the automatic operation of the arm support of the pump truck needs to be realized, so that an intelligent actuator is produced.
The operation of the executing mechanism is mainly realized by a control component (such as a controller) on the corresponding mechanical equipment, and the control component outputs a corresponding control instruction to the executing mechanism based on the working condition information and the operation code to realize the action of the executing mechanism, thereby completing the automatic operation.
In order to ensure that the running code can meet the requirements of actual working conditions and detect errors or bugs existing in the running code, the execution mechanism needs to be tested after the running code is generated. The specific test method is to change the operation variables of the simulation model to simulate the working condition information of the execution mechanism in actual work so as to obtain the working state of the execution mechanism, and thus, whether the control system of the execution mechanism meets the requirements can be judged. However, the simulation model of the execution mechanism is realized by simulation software such as MATLAB, Simulink and the like, and the whole vehicle control algorithm of mechanical equipment such as a pump vehicle and the like is realized on a CODESYS platform. The ST language used by the CODESYS platform is incompatible with MATLAB and Simulink languages, so that the simulation result of the execution mechanism can only be displayed in MATLAB and Simulink alone, therefore, a conversion model and a migration code are often required to be displayed on the CODESYS platform in the simulation process, the simulation test process is complex, and the test is possibly inaccurate due to the conversion model and the migration code.
In order to solve the above problems, the present application provides a simulation test method and apparatus for an execution mechanism, after an execution file is generated by an execution mechanism simulation model, an operation variable in the execution file is modified in an address query manner, an output result in the execution file is obtained, and a value of the operation variable is adjusted according to the output result, so that an operation parameter of the execution mechanism is adjusted, a test on the execution mechanism is realized, a test process is simplified, and test accuracy is improved.
The following describes a simulation test method and device for an execution mechanism, an intelligent boom, and a specific implementation manner of an engineering vehicle provided in an embodiment of the present application with reference to the accompanying drawings.
Exemplary System
Fig. 1 is a schematic diagram of a structure of an application scenario according to an exemplary embodiment of the present application. The simulation test method for the execution mechanism provided by the embodiment of the application can be applied to a test system for mechanical equipment including the execution mechanism such as an intelligent arm support and the like, such as a pump truck and the like, as shown in fig. 1, the test system can include a test host 1, the test host 1 is in communication connection (for example, wireless communication connection or wired communication connection) with a controller 2 of the execution mechanism, wherein an execution mechanism simulation model for realizing the test of the controller 2 of the execution mechanism and a whole vehicle simulation model for testing a whole vehicle logic controller are constructed on the test host 1. The execution file generated by the execution mechanism simulation model can be sent to the controller 2 of the execution mechanism, the controller 2 of the execution mechanism controls the operation of the execution mechanism according to the execution file and the set operation variable, the test host 1 modifies the value of the operation variable in the execution file by using the communication interface and obtains a corresponding output result after the operation variable is modified, then a uniform output result is formed by combining the output result of the whole vehicle and is displayed on the whole vehicle simulation model, the problems of higher test complexity and lower accuracy caused by incompatibility of the execution mechanism simulation model and the whole vehicle simulation model are avoided, the test and debugging of the mechanical equipment are integrally realized, and the test accuracy is improved.
It should be understood that the test host 1 in this application may be one host (e.g., a computer, etc.), or may be two hosts (where the execution mechanism simulation model and the entire vehicle simulation model are respectively located on the two hosts), and as long as the execution file generated by the execution mechanism simulation model is sent to the controller 2 of the execution mechanism, the host where the entire vehicle simulation model is located may be used to modify the value of the operation variable in the execution file and obtain the output result obtained by the execution file after the execution mechanism operates the modification, so as to implement the test of the mechanical device on the entire vehicle simulation model (including the test of the execution mechanism and the entire vehicle logic test).
Exemplary method
Fig. 2 is a schematic flowchart of a simulation testing method for an actuator according to an exemplary embodiment of the present application. As shown in fig. 2, the simulation test method of the actuator can be applied to the test system, and specifically includes the following steps:
step 210: and acquiring variable address information of the operation variables in the execution file of the execution mechanism.
The variable address information represents the specific position of the running variable in the execution file. After the execution file is generated, the variable address information of the operation variables in the execution file is recorded, and a finished automobile simulation model (CODESYS platform) can obtain the variable address information of the operation variables in the execution file from a controller of an execution mechanism through communication, so that the subsequent modification and setting of the operation variables are facilitated. The recording mode of the variable address information can be as follows: and (2) independently setting an address file, wherein each operation variable and corresponding address information are recorded in the address file, and the specific position of each operation variable in the execution file can be simply obtained in a table look-up mode.
In an embodiment, the specific implementation manner of step 210 may be: recording a variable storage starting position and a variable byte length of an operation variable; and acquiring variable address information according to the variable storage starting position and the variable byte length. Because the lengths of different operation variables can be different, in order to accurately acquire the variable address information of each operation variable, the variable storage starting position and the variable byte length of each operation variable can be recorded at the same time, namely the starting position of each operation variable storage and the length of the operation variable are recorded, so that the value of the operation variable can be modified by searching the variable storage starting position and acquiring the byte of the variable byte length.
Step 220: based on the variable address information, a value of an execution variable in an execution file of the execution mechanism is determined.
In the process of testing the actuator, the values of part of the operating variables need to be modified on the simulation interface to change the operating conditions or environments (such as load values, extension lengths and the like) of the actuator, so as to test the operating conditions of the full operating conditions or environments and ensure that the actuator does not have faults in the actual operation process. In the process of debugging the actuator, the values of some operating variables need to be modified on the simulation interface to change the operating parameters of the actuator (such as the upper current limit, the maximum extended length, the maximum rotation angle, the rotation speed, and the like of the actuator), so as to adjust the output result, and thus obtain the operating parameter values meeting the requirements. It should be understood that if the running variable in the execution file has an initial value, the value of the running variable needs to be modified during the test process, and if the running variable in the execution file has no initial value, the value of the running variable needs to be given during the test process.
Specifically, step 220 may include: and acquiring or modifying the value of the running variable in the execution file based on the variable address information. In the actual test process, the CODESYS platform can output an instruction to the controller of the execution mechanism to modify or set the value of the operation variable at the variable address information according to the variable address information of the operation variable to be modified, so as to accurately modify the value of the operation variable in the execution file, and thus, the CODESYS platform can debug the simulation model of the execution mechanism.
By acquiring the variable address information of the operation variables in the execution file, the operation variables on the variable addresses can be modified according to the variable address information, so that the operation variables in the execution file of the execution mechanism can be modified through communication interaction without being limited by a code language, and the simulation test of the execution mechanism is realized.
Step 230: result address information of an output result of an execution mechanism in the execution file is acquired.
The result address information represents the specific position of the output result of the execution mechanism in the execution file.
After the execution file is generated, result address information of an output result of the execution mechanism in the execution file is recorded, and a finished automobile simulation model (CODESYS platform) can obtain the result address information of the output result of the execution mechanism in the execution file from a controller of the execution mechanism through communication, so that the subsequent monitoring of the output result of the execution mechanism is facilitated. The recording mode of the variable address information can be as follows: an address file (which may be the same file as the address file for recording the address information of the operation variables) is separately set, the output result and the corresponding address information of each execution mechanism are recorded in the address file, and the specific position of the output result of each execution mechanism in the execution file can be simply obtained in a table look-up manner.
In an embodiment, the specific implementation manner of step 230 may be: recording a result storage starting position and a result byte length of an output result of the execution mechanism; and acquiring result address information according to the result storage starting position and the result byte length. Since the lengths of the output results of different actuators may be different, in order to accurately obtain the result address information of the output result of each actuator, the result storage start position and the result byte length of the output result of each actuator may be recorded at the same time, that is, the start position of the output result storage of each actuator and the length of the output result of the actuator are recorded, so that the value of the output result of the actuator may be obtained by searching the result storage start position and acquiring the byte of the result byte length.
Step 240: based on the result address information, an output result of the actuator is acquired.
The output result of the actuator is obtained after operation based on the determined value of the operation variable. After the value of the operation variable of the actuator is determined, that is, the value of the operation variable of the execution file in the controller of the actuator is already set, at this time, the actuator may be controlled to operate based on the value of the operation variable, and an output result after the operation (that is, an output result of the actuator) may be acquired. That is, the running state of the executing mechanism can be known in real time by modifying or giving the value of the running variable in real time and acquiring the output result of the executing mechanism in real time, so that the test result can be obtained. In the actual test process, the CODESYS platform may obtain, according to the result address information of the output result of the execution mechanism, the value of the output result of the execution mechanism at the result address information in the execution file, so as to accurately obtain the value of the output result of the execution mechanism in the execution file, thereby implementing monitoring of the simulation result of the execution mechanism by the CODESYS platform.
It should be understood that, since the values of the operation variables may not need to be modified after being set in the simulation test process of the execution mechanism, the variable address information of the operation variables in the execution file of the execution mechanism may not be acquired, and only the result address information of the output result of the execution mechanism in the execution file may be acquired, so as to display the simulation result of the execution mechanism on the CODESYS platform.
By acquiring the result address information of the output result of the execution mechanism in the execution file, the output result of the execution mechanism on the result address can be acquired according to the result address information, so that the output result of the execution mechanism in the execution file of the execution mechanism can be acquired through communication interaction without being limited by code language, the output result of the execution mechanism can be displayed, and the simulation test and monitoring of the execution mechanism can be realized.
Fig. 3 is a schematic flowchart of a simulation testing method for an actuator according to another exemplary embodiment of the present application. As shown in fig. 3, after step 240, the simulation testing method for the actuator in the above embodiment may further include:
step 250: and combining the output result of the execution mechanism and the finished automobile output result of the finished automobile logic control simulation model corresponding to the execution mechanism to comprehensively obtain a test result.
Because there is a certain relationship between the logic control of the whole vehicle and the control of the actuating mechanism, for example, in the actual operation process, in order to ensure safety, the actuating mechanism usually cannot operate or the operating speed is limited when the whole vehicle is in a walking state. Therefore, the output result of the execution mechanism and the output result of the whole vehicle are combined, the simulation test can be more accurately carried out on the execution mechanism, and the problem of distortion caused by the fact that the execution mechanism is tested independently is solved.
The method comprises the steps of determining the value of an operation variable in an execution file of an execution mechanism, obtaining an output result of the execution mechanism after the execution mechanism operates the operation variable with the determined value, and then combining a finished automobile output result output by a finished automobile logic control simulation model corresponding to the execution mechanism to comprehensively obtain a test result; the method comprises the steps of adjusting operation variables in execution files of the execution mechanism on the same platform, obtaining output results output after the execution mechanism operates, combining the output results of the whole vehicle, and performing simulation test on the execution mechanism in a more comprehensive and approximate actual working state so as to improve the accuracy of the simulation test.
In an embodiment, a specific implementation manner of the step 250 may include: and adjusting the output result of the actuating mechanism according to the limited relation between the output result of the whole vehicle and the output result of the actuating mechanism.
According to the limited relationship between the output result of the whole vehicle and the output result of the actuating mechanism, for example, the limitation of the running state of the whole vehicle on the output result of the actuating mechanism, the output result of the actuating mechanism can be changed while the parameters of the whole vehicle are set. The input of the simulation model of the execution mechanism is modified or set through the finished automobile simulation model, and the output of the simulation model of the execution mechanism is monitored, so that the simulation result of the simulation model of the execution mechanism is directly reflected in the finished automobile simulation model, and the seamless combination of the algorithm of the execution mechanism and the control algorithm of the finished automobile is realized. And the whole vehicle simulation result and the simulation result of the execution mechanism are simultaneously monitored through the whole vehicle simulation model, so that the simulation model of the execution mechanism is prevented from being converted into a model which is fused with the whole vehicle simulation model, the risk and uncertainty possibly brought in the process of model conversion and code transfer are avoided, and the accuracy of the execution mechanism algorithm and the whole vehicle control algorithm is further improved. Meanwhile, by uniformly monitoring and debugging the simulation result of the execution mechanism and the simulation result of the whole vehicle, the algorithm of the execution mechanism and the control algorithm of the whole vehicle can be verified from the integral angle, and the integration of a plurality of simulation models and equipment is realized, so that the output result of the execution mechanism in the operation of the actual working condition is closer to the output result of the execution mechanism in the operation of the actual working condition, and the execution mechanism and the control algorithm of the whole vehicle are more accurately simulated and tested.
Fig. 4 is a flowchart illustrating an acquisition method of an execution file according to an exemplary embodiment of the present application. As shown in fig. 4, the manner of acquiring the execution file of the execution mechanism may include:
step 410: and generating an execution code according to the simulation model of the execution mechanism.
After a simulation model of the actuator (e.g., a simulation model of the actuator built by MATLAB) is built, an execution code (e.g., C language code) of the controller of the actuator may be automatically generated in the simulation model of the actuator to provide a code that enables simulation of the actuator. Before generating the execution code, the execution mechanism simulation model can be subjected to simulation verification, when the established execution mechanism simulation model is subjected to simulation verification, an external interface sub-model connected with the execution mechanism simulation model, such as a sub-model of a load, a system power grid and the like, needs to be established, and after the external interface sub-models are established, the established execution mechanism simulation model can be subjected to simulation verification. Before generating the execution code, the established execution mechanism simulation model can be subjected to code conversion preprocessing, and the execution mechanism simulation model subjected to the code conversion preprocessing is converted into an execution mechanism simulation model program which can be identified by the controller. Wherein the transcoding pre-processing comprises: discretizing, setting simulation time step length, setting an input/output interface and parameters of the arm support simulation model and the like.
Step 420: compiling the execution code to obtain an execution file.
After the execution code is generated, the execution code may be compiled by a compiler to obtain an execution file, wherein the compiler may be integrated in the test host 1 of the test system. The execution file of the execution mechanism is obtained by compiling the execution code automatically generated by the simulation model, the execution file can be directly realized by utilizing the existing simulation model, and the comprehensive simulation test of the execution mechanism can be simply realized on the premise of not reconstructing the simulation model so as to improve the test accuracy.
Exemplary devices
Fig. 5 is a schematic structural diagram of a simulation testing apparatus for an actuator according to an exemplary embodiment of the present application. As shown in fig. 5, the simulation test apparatus 50 includes: a variable address obtaining module 51, configured to obtain variable address information of an operation variable in an execution file of an execution mechanism; wherein the variable address information characterizes a specific location of the run variable in the execution file; a variable determining module 52, configured to determine a value of the operation variable in the execution file based on the variable address information; a result address acquiring module 53, configured to acquire result address information of an output result of the execution mechanism in the execution file; wherein the result address information represents a specific position of an output result of the execution mechanism in the execution file; and a result obtaining module 54, configured to obtain an output result of the execution mechanism based on the result address information; and the output result of the actuating mechanism is obtained after operation based on the value of the operation variable.
According to the simulation test device for the execution mechanism, the variable address obtaining module 51 obtains the variable address information of the operation variable in the execution file, the variable determining module 52 can determine the operation variable on the variable address according to the variable address information, the result address obtaining module 53 obtains the result address information of the output result of the execution mechanism in the execution file, and the result obtaining module 54 obtains the output result of the execution mechanism after the execution mechanism operates the operation variable with a determined value based on the result address information, so that the modification and the result obtaining of the operation variable in the execution file of the execution mechanism can be realized through communication interaction without being limited by a code language, the simulation test of the execution mechanism is realized, and the convenience and the accuracy of the simulation test are improved.
Fig. 6 is a schematic structural diagram of a simulation testing apparatus for an actuator according to another exemplary embodiment of the present application. As shown in fig. 6, the simulation test apparatus 50 in the above embodiment may further include: and the comprehensive test module 55 is used for adjusting the output result of the actuating mechanism according to the limited relation of the output result of the whole vehicle to the output result of the actuating mechanism. According to the limited relation of the finished automobile output result to the output result of the actuating mechanism, for example, the limitation of the running state of the finished automobile to the output result of the actuating mechanism, the output result of the actuating mechanism can be changed while the finished automobile parameters are set.
In an embodiment, the variable address obtaining module 51 may be further configured to: recording a variable storage starting position and a variable byte length of an operation variable; and acquiring variable address information according to the variable storage starting position and the variable byte length.
In an embodiment, the result address obtaining module 53 may be further configured to: recording a result storage starting position and a result byte length of an output result of the execution mechanism; and acquiring result address information according to the result storage starting position and the result byte length. By acquiring the result address information of the output result of the execution mechanism in the execution file, the output result of the execution mechanism on the result address can be acquired according to the result address information, so that the output result of the execution mechanism in the execution file of the execution mechanism can be acquired through communication interaction without being limited by code language, the output result of the execution mechanism can be displayed, and the simulation test and monitoring of the execution mechanism can be realized.
In an embodiment, as shown in fig. 6, the simulation testing apparatus 50 may further include: a code generation module 56, configured to generate an execution code according to the simulation model of the execution mechanism; and the compiling module 57 is configured to compile the execution code to obtain an execution file. The execution file of the execution mechanism is obtained by compiling the execution code automatically generated by the simulation model, the execution file can be directly realized by utilizing the existing simulation model, and the comprehensive simulation test of the execution mechanism can be simply realized on the premise of not reconstructing the simulation model so as to improve the test accuracy.
Exemplary device
Next, an electronic structure of the smart boom and the engineering vehicle according to an embodiment of the present application is described with reference to fig. 7 and 8. The smart boom and the engineering vehicle may comprise either or both of the first device and the second device, or a stand-alone device independent thereof, which may communicate with the first device and the second device to receive the collected input signals therefrom.
Fig. 7 and 8 illustrate block diagrams of an intelligent boom and an engineering vehicle according to an embodiment of the application.
As shown in fig. 7 and 8, the smart boom 10 and the work vehicle 20 may each include one or more processors 11 and memories 12.
The processor 11 may be a Central Processing Unit (CPU) or other form of processing unit having data processing capabilities and/or instruction execution capabilities, and may control the smart boom 10 and other components in the work vehicle 20 to perform desired functions.
Memory 12 may include one or more computer program products that may include various forms of computer-readable storage media, such as volatile memory and/or non-volatile memory. The volatile memory may include, for example, Random Access Memory (RAM), cache memory (cache), and/or the like. The non-volatile memory may include, for example, Read Only Memory (ROM), hard disk, flash memory, etc. One or more computer program instructions may be stored on the computer-readable storage medium and executed by processor 11 to implement the above-described simulation testing methods of the execution mechanisms of the various embodiments of the present application and/or other desired functions. Various contents such as an input signal, a signal component, a noise component, etc. may also be stored in the computer-readable storage medium.
In one example, the smart boom 10 and the engineering vehicle 20 may further include: an input device 13 and an output device 14, which are interconnected by a bus system and/or other form of connection mechanism (not shown).
For example, when the smart boom is the first device or the second device, the input device 13 may be a camera for capturing an input signal of an image. When the smart boom is a stand-alone device, the input means 13 may be a communication network connector for receiving the acquired input signals from the first device and the second device.
The input device 13 may also include, for example, a keyboard, a mouse, and the like.
The output device 14 may output various information including the determined distance information, direction information, and the like to the outside. The output devices 14 may include, for example, a display, speakers, a printer, and a communication network and its connected remote output devices, among others.
Of course, for simplicity, only some of the components of the smart boom 10 and the work vehicle 20 relevant to the present application are shown in fig. 7 and 8, and components such as buses, input/output interfaces, and the like are omitted. In addition, the smart boom 10 and the work vehicle 20 may include any other suitable components according to specific applications.
Exemplary computer program product and computer-readable storage Medium
In addition to the above-described methods and apparatus, embodiments of the present application may also be a computer program product comprising computer program instructions that, when executed by a processor, cause the processor to perform the steps in the method for simulation testing of an actuator according to various embodiments of the present application described in the "exemplary methods" section of this specification, supra.
The computer program product may be written with program code for performing the operations of embodiments of the present application in any combination of one or more programming languages, including an object oriented programming language such as Java, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device and partly on a remote computing device, or entirely on the remote computing device or server.
Furthermore, embodiments of the present application may also be a computer-readable storage medium having stored thereon computer program instructions that, when executed by a processor, cause the processor to perform the steps in the method for simulation testing of an execution mechanism according to various embodiments of the present application described in the "exemplary methods" section above in this specification.
The computer-readable storage medium may take any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may include, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium include: an electrical connection having one or more wires, a portable disk, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
The foregoing describes the general principles of the present application in conjunction with specific embodiments, however, it is noted that the advantages, effects, etc. mentioned in the present application are merely examples and are not limiting, and they should not be considered essential to the various embodiments of the present application. Furthermore, the foregoing disclosure of specific details is for the purpose of illustration and description and is not intended to be limiting, since the foregoing disclosure is not intended to be exhaustive or to limit the disclosure to the precise details disclosed.
The block diagrams of devices, apparatuses, systems referred to in this application are only given as illustrative examples and are not intended to require or imply that the connections, arrangements, configurations, etc. must be made in the manner shown in the block diagrams. These devices, apparatuses, devices, systems may be connected, arranged, configured in any manner, as will be appreciated by those skilled in the art. Words such as "including," "comprising," "having," and the like are open-ended words that mean "including, but not limited to," and are used interchangeably therewith. The words "or" and "as used herein mean, and are used interchangeably with, the word" and/or, "unless the context clearly dictates otherwise. The word "such as" is used herein to mean, and is used interchangeably with, the phrase "such as but not limited to".
It should also be noted that in the devices, apparatuses, and methods of the present application, the components or steps may be decomposed and/or recombined. These decompositions and/or recombinations are to be considered as equivalents of the present application.
The previous description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other aspects without departing from the scope of the application. Thus, the present application is not intended to be limited to the aspects shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
The foregoing description has been presented for purposes of illustration and description. Furthermore, the description is not intended to limit embodiments of the application to the form disclosed herein. While a number of example aspects and embodiments have been discussed above, those of skill in the art will recognize certain variations, modifications, alterations, additions and sub-combinations thereof.
Claims (10)
1. A simulation test method of an execution mechanism is characterized by comprising the following steps:
acquiring variable address information of an operation variable in an execution file of an execution mechanism; wherein the variable address information characterizes a specific location of the run variable in the execution file;
determining a value of the run variable in the execution file based on the variable address information;
acquiring result address information of an output result of the execution mechanism in the execution file; wherein the result address information represents a specific position of an output result of the execution mechanism in the execution file; and
acquiring an output result of the execution mechanism based on the result address information; and the output result of the actuating mechanism is obtained after operation based on the value of the operation variable.
2. The method for simulation testing of an execution mechanism according to claim 1, wherein said determining the value of the running variable in the execution file based on the variable address information comprises:
And acquiring or/and modifying the value of the operation variable in the execution file based on the variable address information.
3. The simulation test method for the execution mechanism according to claim 1, wherein the obtaining of the variable address information of the operation variable in the execution file of the execution mechanism comprises:
recording a variable storage starting position and a variable byte length of the operation variable; and
and acquiring the variable address information according to the variable storage starting position and the variable byte length.
4. The method for simulation test of an execution mechanism according to claim 1, wherein the obtaining of result address information of the output result of the execution mechanism in the execution file comprises:
recording a result storage starting position and a result byte length of an output result of the execution mechanism; and
and acquiring the result address information according to the result storage starting position and the result byte length.
5. The simulation test method for the actuator according to claim 1, further comprising, after the obtaining the output result of the actuator:
and combining the output result of the executing mechanism and the finished automobile output result of the finished automobile logic control simulation model corresponding to the executing mechanism to comprehensively obtain a test result.
6. The simulation test method of the execution mechanism according to claim 5, wherein the combining the output result of the execution mechanism and the vehicle output result of the vehicle logic control simulation model corresponding to the execution mechanism comprises:
and adjusting the output result of the actuating mechanism according to the limited relation between the output result of the whole vehicle and the output result of the actuating mechanism.
7. The simulation test method of the execution mechanism according to claim 1, wherein the manner of acquiring the execution file includes:
generating an execution code according to the simulation model of the execution mechanism; and
and compiling the execution code to obtain the execution file.
8. A simulation test device for an actuator, comprising:
the variable address acquisition module is used for acquiring variable address information of the operation variables in the execution file of the execution mechanism; wherein the variable address information characterizes a specific location of the run variable in the execution file;
a variable determining module, configured to determine a value of the operation variable in the execution file based on the variable address information;
a result address obtaining module, configured to obtain result address information of an output result of the execution mechanism in the execution file; wherein the result address information represents a specific position of an output result of the execution mechanism in the execution file; and
The result acquisition module is used for acquiring the output result of the execution mechanism based on the result address information; and the output result of the actuating mechanism is obtained after operation based on the value of the operation variable.
9. An intelligent arm support is characterized by comprising:
a processor;
a memory for storing the processor-executable instructions;
the processor is used for executing the simulation test method of the execution mechanism of any one of the claims 1-7.
10. A work vehicle, characterized by comprising:
a processor;
a memory for storing the processor-executable instructions;
the processor is used for executing the simulation test method of the execution mechanism of any one of the claims 1-7.
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