CN113238491B - Simulation test method and device of execution mechanism, intelligent arm support and engineering vehicle - Google Patents
Simulation test method and device of execution 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 the 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, and result address information of an output result of the execution mechanism in the execution file is obtained, and the output result of the execution mechanism after the execution mechanism runs the operation variable with a determined value is obtained based on the result address information, so that modification and result acquisition of the operation variable in the execution file of the execution mechanism can be realized through communication interaction without being limited by code language, simulation test of the execution mechanism is realized, and convenience and accuracy of simulation test are improved.
Description
Technical Field
The application relates to the technical field of simulation testing of execution mechanisms, in particular to a simulation testing 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 devices, more and more mechanical devices begin to adopt local or whole automation operations. An executing mechanism 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 part of the arm support of the mechanical equipment (such as the pump truck and the like) and bears important tasks such as drive control, fault monitoring, intelligent adjustment and the like of the arm support. Therefore, the control system of the arm support has a decisive effect on the working state and the performance of the arm support 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 is simulated by changing the operation variable of the simulation model so as to acquire the working state of the execution mechanism, so that whether the control system of the execution mechanism meets the requirement can be judged. However, the simulation model of the existing executing mechanism is mostly realized by simulation software such as MATLAB, and the whole vehicle control algorithm of mechanical equipment such as pump truck is realized on a code sys (Controlled Development System, control environment system) platform. The language used by the code sys platform is ST language (Structured text) and is incompatible with MATLAB language, so that a conversion model and a code transplanting are often needed in a simulation process, such a simulation test process is complex, and the test may be inaccurate due to the conversion model and the code transplanting.
Disclosure of Invention
The present application has been made in order to solve the above 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 present application, there is provided a simulation test method for an actuator, including: variable address information of an operation variable in an execution file of the execution mechanism is obtained; wherein the variable address information characterizes the running variable in a specific position in the execution file; determining the value of the running variable in the execution file based on the variable address information; obtaining result address information of an output result of the execution mechanism in the execution file; the result address information represents a specific position of an output result of the executing mechanism in the executing file; based on the result address information, obtaining an output result of the executing mechanism; and the output result of the execution mechanism is obtained after the execution of the operation variable.
By acquiring the variable address information of the operation variable in the execution file, the operation variable on the variable address 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 runs the operation variable with the determined value is acquired based on the result address information, so that the modification and the result acquisition of the operation variable in the execution file of the execution mechanism can be realized through communication interaction without being limited by code language, and the simulation test of the execution mechanism is realized, thereby improving the convenience and the accuracy of the simulation test.
In an embodiment, the determining the value of the running variable in the execution file based on the variable address information includes: and acquiring or/and modifying the value of the running variable in the execution file based on the variable address information.
By acquiring the variable address information of the operation variable in the execution file, the operation variable on the variable address can be modified according to the variable address information, so that the modification 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, and the simulation test of the execution mechanism is realized.
In an embodiment, the obtaining the variable address information of the running 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 the 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 executing 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 method for 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 codes are automatically generated through the simulation model, and compiled to obtain the execution files of the execution mechanism, so that the execution files can be directly realized by using 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 that the test accuracy of the execution mechanism is improved.
In an embodiment, after the obtaining the output result of the executing mechanism, the simulation test method of the executing mechanism further includes: and combining the output result of the executing mechanism and the whole vehicle output result of the whole vehicle logic control simulation model corresponding to the executing mechanism to comprehensively obtain a test result.
The output result of the executing mechanism and the whole vehicle output result of the whole vehicle logic control simulation model corresponding to the executing mechanism are combined, the running variable in the executing file of the executing mechanism is adjusted on the same platform, the arm support output result output after the executing mechanism runs is obtained, and then the whole vehicle output result is combined, so that the executing mechanism can be subjected to simulation test 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 executing mechanism and the output result of the whole vehicle logic control simulation model corresponding to the executing mechanism includes: and adjusting the output result of the executing mechanism according to the limiting relation between the whole vehicle output result and the output result of the executing mechanism.
According to the limiting relation between the output result of the whole vehicle and the output result of the executing mechanism, the output result of the executing mechanism can be changed while the parameters of the whole vehicle are set, so that the output result of the executing mechanism in the running process of the actual working condition is more similar, and the executing mechanism is more accurately simulated and tested.
According to one aspect of the present application, there is provided a simulation test apparatus for an actuator, including: the variable address acquisition module is used for acquiring variable address information of an operation variable in an execution file of the execution mechanism; wherein the variable address information characterizes the running variable in a specific position in the execution file; the variable determining module is used for determining the value of the running variable in the execution file based on the variable address information; the result address acquisition module is used for acquiring result address information of an output result of the execution mechanism in the execution file; the result address information represents a specific position of an output result of the executing mechanism in the executing file; the result acquisition module is used for acquiring an output result of the execution mechanism based on the result address information; and the output result of the execution mechanism is obtained after the execution of the operation variable.
The variable address acquisition module acquires variable address information of an operation variable in the execution file, the variable determination module can determine the operation variable on the variable address according to the variable address information, the result address acquisition module acquires result address information of an output result of an execution mechanism in the execution file, and the result acquisition module acquires the output result of the execution mechanism after the operation variable with a determined value is operated by the execution mechanism based on the result address information, so that modification and result acquisition of the operation variable in the execution file of the execution mechanism can be realized through communication interaction without being limited by code language, and simulation test of the execution mechanism is realized, thereby improving convenience and accuracy of simulation test.
According to one aspect of the present application, there is provided an intelligent boom comprising: a processor; a memory for storing the processor-executable instructions; the processor is used for executing the simulation test method of the executing mechanism.
According to one aspect of the present application, there is provided an engineering vehicle including: a processor; a memory for storing the processor-executable instructions; the processor is used for executing the simulation test method of the executing mechanism.
Drawings
The foregoing and other objects, features and advantages of the present application will become more apparent from the following more particular description of embodiments of the present application, as illustrated in the accompanying drawings. The accompanying drawings are included to provide a further understanding of embodiments of the application and are incorporated in and constitute a part of this specification, illustrate the application and not constitute a limitation to the application. In the drawings, like reference numerals generally refer to like parts or steps.
Fig. 1 is a schematic view of a scenario structure suitable for an exemplary embodiment of the present application.
Fig. 2 is a flow chart of a simulation test method of an actuator according to an exemplary embodiment of the present application.
Fig. 3 is a flowchart of a simulation test method of an actuator according to another exemplary embodiment of the present application.
Fig. 4 is a flowchart of a method for acquiring an execution file according to an exemplary embodiment of the present application.
Fig. 5 is a schematic structural diagram of a simulation test apparatus for an actuator according to an exemplary embodiment of the present application.
Fig. 6 is a schematic structural diagram of a simulation test apparatus for an actuator according to another exemplary embodiment of the present application.
Fig. 7 is a block diagram of an intelligent boom according to an exemplary embodiment of the present application.
Fig. 8 is a block diagram of an engineering 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 apparent that the described embodiments are only some of the embodiments of the present application and not all of the embodiments of the present application, and it should be understood that the present application is not limited by the example embodiments described herein.
Summary of the application
An executing mechanism of the 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 is needed, so that an intelligent executing mechanism is generated.
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 running code, so that the action of the executing mechanism is realized, and the automatic operation is finished.
In order to ensure that the running code can meet the requirements of actual working conditions, and also in order to detect errors or loopholes in the running code, an executing mechanism needs to be tested after the running code is generated. The specific test method is to change the operation variable of the simulation model to simulate the working condition information of the executing mechanism in actual work so as to acquire the working state of the executing mechanism, thereby judging whether the control system of the executing mechanism meets the requirement. However, the simulation model of the executing mechanism is realized through simulation software such as MATLAB, simulink, and the whole vehicle control algorithm of mechanical equipment such as a pump truck is realized on a CODESYS platform. The ST language used by the codec sys platform is incompatible with the MATLAB, simulink language, and therefore, simulation results of the actuator can only be displayed in MATLAB, simulink alone, and therefore, a conversion model and a migration code are often required to be displayed on the codec sys platform in the simulation process, such a simulation test process is complex, and may cause inaccurate tests due to the conversion model and the migration code.
In order to solve the problems, the application provides a simulation test method and device 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 mode, an output result in the execution file is obtained, and the value of the operation variable is adjusted according to the output result, so that the adjustment of the operation parameter of the execution mechanism is realized, the test process is simplified, and the test precision is improved.
The following specifically describes a simulation test method and device for an execution mechanism, an intelligent arm support and a specific implementation mode of an engineering vehicle according to the embodiment of the application with reference to the accompanying drawings.
Exemplary SystemSystem for managing a plurality of data
Fig. 1 is a schematic view of a scenario structure suitable for an exemplary embodiment of the present application. The simulation test method of the execution mechanism provided by the embodiment of the application can be applied to a test system of mechanical equipment such as a pump truck and the like comprising the execution mechanism such as an intelligent arm support and the like, and as shown in fig. 1, the test system can comprise a test host 1, wherein the test host 1 is in communication connection (such as wireless communication connection or wired communication connection) with a controller 2 of the execution mechanism, and 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 built on the test host 1. The execution file generated by the simulation model of the execution mechanism 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 utilizes the communication interface to modify the value of the operation variable in the execution file and obtain the corresponding output result after modifying the operation variable, then the output result of the whole vehicle is combined to form a unified output result, the unified output result is displayed on the simulation model of the whole vehicle, the problems of higher test complexity and lower accuracy caused by incompatibility of the simulation model of the execution mechanism and the simulation model of the whole vehicle are avoided, the test and the debugging of the mechanical equipment are realized on the whole, and the test accuracy is improved.
It should be understood that, in the present application, the test host 1 may be one host (for example, a computer or the like), or may be two hosts (where the execution mechanism simulation model and the whole 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 whole 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 running the modified execution file by the execution mechanism, so as to implement the test (including the test of the execution mechanism and the whole vehicle logic test) of the mechanical device on the whole vehicle simulation model.
Exemplary method
Fig. 2 is a flow chart of a simulation test method of 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 obtaining variable address information of the running variable in the execution file of the execution mechanism.
The variable address information characterizes the specific location of the run variable in the execution file. After the execution file is generated, variable address information of the operation variable in the execution file is recorded, and a complete vehicle simulation model (CODESYS platform) can acquire the variable address information of the operation variable in the execution file through communication from a controller of the execution mechanism, so that the subsequent modification and setting of the operation variable are facilitated. The variable address information may be recorded in the following manner: an address file is independently set, 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 one embodiment, the specific implementation of step 210 may be: recording a variable storage starting position and a variable byte length of a running variable; and acquiring variable address information according to the variable storage starting position and the variable byte length. Since 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 simultaneously, 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 bytes of the variable byte length.
Step 220: based on the variable address information, a value of an operating variable in an execution file of the actuator is determined.
In the process of testing the execution mechanism, the values of part of operation variables are required to be modified on a simulation interface to change the operation working condition or environment (such as a load value, an extension length and the like) of the execution mechanism so as to test the operation condition of the whole working condition or environment, and the execution mechanism is ensured not to have faults in the actual operation process. In the process of debugging the execution mechanism, the values of part of operation variables are required to be modified on a simulation interface to change the operation parameters (such as the upper current limit, the maximum extension length, the maximum rotation angle, the rotation speed and the like of the execution mechanism) of the execution mechanism so as to realize the adjustment of output results, thereby obtaining the operation 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, 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.
Specifically, step 220 may include: based on the variable address information, the value of the running variable in the execution file is obtained or modified. In the actual test process, the CODESYS platform can output instructions to the controller of the executing mechanism according to the variable address information of the operating variable to be modified, so as to modify or set the value of the operating variable at the variable address information accurately, and debug the simulation model of the executing mechanism by the CODESYS platform.
By acquiring the variable address information of the operation variable in the execution file, the operation variable on the variable address can be modified according to the variable address information, so that the modification 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, and the simulation test of the execution mechanism is realized.
Step 230: and obtaining result address information of an output result of the execution mechanism in the execution file.
The result address information characterizes the specific position of the output result of the executing mechanism in the executing file.
After the execution file is generated, the result address information of the output result of the execution mechanism in the execution file is recorded, and the whole vehicle simulation model (CODESYS platform) can acquire the result address information of the output result of the execution mechanism in the execution file through communication from a controller of the execution mechanism, so that the follow-up monitoring of the output result of the execution mechanism is facilitated. The variable address information may be recorded in the following manner: an address file (which can be the same file as the address file for recording the address information of the operation variable) is independently set, the output result of each execution mechanism and the corresponding address information 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 mode.
In one embodiment, the specific implementation of step 230 may be: recording a result storage starting position and a result byte length of an output result of the executing mechanism; and obtaining the result address information according to the result storage starting position and the result byte length. Because the lengths of the output results of different execution mechanisms can be different, in order to accurately acquire the result address information of the output result of each execution mechanism, the result storage starting position and the result byte length of the output result of each execution mechanism can be recorded at the same time, namely, the starting position of the output result storage of each execution mechanism and the length of the output result of the execution mechanism are recorded, so that the value of the output result of the execution mechanism can be obtained by searching the result storage starting position and acquiring the byte of the result byte length.
Step 240: and based on the result address information, obtaining an output result of the executing mechanism.
The output result of the actuator is obtained after operation based on the determined value of the operation variable. After the value of the operating variable of the actuator is determined, that is, the value of the operating variable of the execution file in the controller of the actuator has been set, at this time, the operation of the actuator may be controlled based on the value of the operating variable, and the output result after the operation (that is, the output result of the actuator) is obtained. 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 obtaining the output result of the executing mechanism in real time, and the test result is obtained. In the actual test process, the CODESYS platform can acquire the value of the output result of the execution mechanism at the position of the result address information in the execution file according to the result address information of the output result of the execution mechanism, so as to accurately acquire the value of the output result of the execution mechanism in the execution file, and further realize the monitoring of the simulation result of the execution mechanism by the CODESYS platform.
It should be understood that, during the simulation test of the execution mechanism, no modification is needed after the value of the operation variable is set, so that the variable address information of the operation variable 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 to display the simulation result of the execution mechanism on the codec sys platform.
The output result of the execution mechanism in the execution file of the execution mechanism can be obtained through the obtaining of the result address information of the output result of the execution mechanism in the execution file, and the output result of the execution mechanism in the execution file of the execution mechanism can be obtained through communication interaction without being limited by a code language so as to display the output result of the execution mechanism, thereby realizing simulation test and monitoring of the execution mechanism.
Fig. 3 is a flowchart of a simulation test method of an actuator according to another exemplary embodiment of the present application. As shown in fig. 3, after step 240, the simulation test method of the actuator in the foregoing embodiment may further include:
step 250: and combining the output result of the executing mechanism and the whole vehicle output result of the whole vehicle logic control simulation model corresponding to the executing mechanism to comprehensively obtain the test result.
Because a certain relation exists between the control of the whole vehicle logic control and the control of the execution mechanism, for example, in the actual operation process, in order to ensure safety, the execution mechanism usually cannot run or has limited running speed when the whole vehicle is in a running state. Therefore, by combining the output result of the executing mechanism and the output result of the whole vehicle, the executing mechanism can be more accurately subjected to simulation test, and the problem of distortion caused by independently testing the executing mechanism is avoided.
The method comprises the steps of determining the value of an operation variable in an execution file of an execution mechanism, obtaining the output result of the execution mechanism after the execution mechanism operates the operation variable with a determined value, and then combining the whole vehicle output result output by a whole vehicle logic control simulation model corresponding to the execution mechanism to comprehensively obtain a test result; the running variables in the execution files of the execution mechanism are adjusted on the same platform, the output results output after the execution mechanism runs are obtained, and then the whole vehicle output results are 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 implementation of step 250 may include: and adjusting the output result of the executing mechanism according to the limiting relation between the output result of the whole vehicle and the output result of the executing mechanism.
According to the limiting relation between the output result of the whole vehicle and the output result of the executing mechanism, for example, the limiting of the running state of the whole vehicle to the output result of the executing mechanism can change the output result of the executing mechanism while setting the parameters of the whole vehicle. The input of the simulation model of the execution mechanism is modified or set through the whole vehicle 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 whole vehicle simulation model, and the seamless combination of the algorithm of the execution mechanism and the whole vehicle control algorithm is realized. And the whole vehicle simulation result and the simulation result of the execution mechanism are monitored simultaneously through the whole vehicle simulation model, so that the simulation model of the execution mechanism is prevented from being converted into a model fused with the whole vehicle simulation model, risks and uncertainties possibly brought in the process of model conversion and code transfer are avoided, and the accuracy of an execution mechanism algorithm and an whole vehicle control algorithm is improved. Meanwhile, through unified monitoring and debugging of the simulation result of the execution mechanism and the simulation result of the whole vehicle, the execution mechanism algorithm and the whole vehicle control algorithm can be verified from the whole angle, and integration of a plurality of simulation models and devices is realized, so that the output result of the execution mechanism in the operation of the actual working conditions is more similar, and the execution mechanism and the whole vehicle control algorithm are more accurately simulated and tested.
Fig. 4 is a flowchart of a method for acquiring an execution file according to an exemplary embodiment of the present application. As shown in fig. 4, the method for acquiring the execution file of the execution mechanism may include:
step 410: and generating the 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, the 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 code that enables simulation of the actuator. Before the execution code is generated, the simulation verification can be performed on the execution mechanism simulation model, when the simulation verification is performed on the established execution mechanism simulation model, an external interface sub-model, such as a load, a system power grid and the like, which is connected with the execution mechanism simulation model, needs to be established, and after the external interface sub-model is established, the simulation verification can be performed on the established execution mechanism simulation model. Before the execution code is generated, the established simulation model of the execution mechanism can be subjected to code conversion pretreatment, and the simulation model of the execution mechanism after the code conversion pretreatment is converted into a simulation model program of the execution mechanism which can be identified by the controller. Wherein the transcoding pre-process comprises: discretization processing, setting simulation time step length, setting input and output interfaces 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 to obtain an execution file by a compiler, which may be integrated in the test host 1 of the above-described test system. By compiling the execution code automatically generated by the simulation model, the execution file of the execution mechanism is obtained, the method can be directly realized by using 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 that the test accuracy of the execution mechanism is improved.
Exemplary apparatus
Fig. 5 is a schematic structural diagram of a simulation test apparatus for an actuator according to an exemplary embodiment of the present application. As shown in fig. 5, the simulation test apparatus 50 includes: the variable address obtaining module 51 is configured to obtain variable address information of an operation variable in an execution file of the execution mechanism; wherein the variable address information characterizes the running variable in a specific position in the execution file; a variable determining module 52, configured to determine a value of the running variable in the execution file based on the variable address information; a result address obtaining module 53, configured to obtain result address information of an output result of the execution mechanism in the execution file; the result address information represents a specific position of an output result of the executing mechanism in the executing file; and a result obtaining module 54, configured to obtain an output result of the executing mechanism based on the result address information; and the output result of the execution mechanism is obtained after the execution of the operation variable.
According to the simulation test device for the execution mechanism, the variable address acquisition module 51 is used for acquiring the variable address information of the operation variable in the execution file, the variable determination module 52 can determine the operation variable on the variable address according to the variable address information, the result address acquisition module 53 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 54 is used for acquiring the output result of the execution mechanism after the execution mechanism runs the operation variable with the determined value based on the result address information, so that the modification and the result acquisition of the operation variable in the execution file of the execution mechanism can be realized through communication interaction without being limited by code language, and the simulation test of the execution mechanism is realized, thereby improving the convenience and the accuracy of the simulation test.
Fig. 6 is a schematic structural diagram of a simulation test 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: the comprehensive test module 55 is configured to adjust an output result of the execution mechanism according to a defined relationship between the output result of the whole vehicle and the output result of the execution mechanism. According to the limiting relation of the output result of the whole vehicle to the output result of the executing mechanism, for example, the limiting of the running state of the whole vehicle to the output result of the executing mechanism, the output result of the executing mechanism can be changed while the parameters of the whole vehicle are set.
In an embodiment, the variable address acquisition module 51 may be further configured to: recording a variable storage starting position and a variable byte length of a running variable; and acquiring variable address information according to the variable storage starting position and the variable byte length.
In an embodiment, the result address acquisition module 53 may be further configured to: recording a result storage starting position and a result byte length of an output result of the executing mechanism; and obtaining the result address information according to the result storage starting position and the result byte length. The output result of the execution mechanism in the execution file of the execution mechanism can be obtained through the obtaining of the result address information of the output result of the execution mechanism in the execution file, and the output result of the execution mechanism in the execution file of the execution mechanism can be obtained through communication interaction without being limited by a code language so as to display the output result of the execution mechanism, thereby realizing simulation test and monitoring of the execution mechanism.
In one embodiment, as shown in fig. 6, the simulation test apparatus 50 may further include: a code generation module 56 for generating an execution code according to the simulation model of the execution mechanism; the compiling module 57 is configured to compile the execution code to obtain an execution file. By compiling the execution code automatically generated by the simulation model, the execution file of the execution mechanism is obtained, the method can be directly realized by using 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 that the test accuracy of the execution mechanism is improved.
Exemplary apparatus
Next, an electronic structure of the smart boom and the engineering vehicle according to an embodiment of the present application will be described with reference to fig. 7 and 8. The smart boom and the work vehicle may include 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 acquired input signals therefrom.
Fig. 7 and 8 illustrate block diagrams of a smart boom and an engineering vehicle according to embodiments of the present application.
As shown in fig. 7 and 8, both the smart boom 10 and the work vehicle 20 may include one or more processors 11 and memory 12.
The processor 11 may be a Central Processing Unit (CPU) or other form of processing unit having data processing and/or instruction execution capabilities, and may control other components in the intelligent boom 10 and 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) and/or cache memory (cache), and the like. The non-volatile memory may include, for example, read Only Memory (ROM), hard disk, flash memory, and the like. One or more computer program instructions may be stored on the computer readable storage medium that may be executed by the processor 11 to implement the simulation test method and/or other desired functions of the actuators of the various embodiments of the present application described above. Various contents such as an input signal, a signal component, a noise component, and the like may also be stored in the computer-readable storage medium.
In one example, the smart boom 10 and the work vehicle 20 may further include: an input device 13 and an output device 14, which are interconnected by a bus system and/or other forms of connection mechanisms (not shown).
For example, when the smart boom is a first device or a second device, the input means 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.
In addition, the input device 13 may also include, for example, a keyboard, a mouse, and the like.
The output device 14 may output various information to the outside, including the determined distance information, direction information, and the like. The output means 14 may include, for example, a display, speakers, a printer, and a communication network and remote output devices connected thereto, etc.
Of course, for simplicity, only some of the components of the smart boom 10 and the work vehicle 20 that are relevant to the present application are shown in fig. 7 and 8, components such as buses, input/output interfaces, and the like are omitted. In addition, the intelligent boom 10 and the work vehicle 20 may include any other suitable components depending on the particular application.
Exemplary computer program product and computer readable storage Medium
In addition to the methods and apparatus described above, embodiments of the present application may also be a computer program product comprising computer program instructions which, when executed by a processor, cause the processor to perform steps in a simulation test method of an actuator according to various embodiments of the present application described in the "exemplary methods" section of the present specification.
The computer program product may write 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, 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 a simulation test method of an actuator according to various embodiments of the present application described in the above "exemplary method" section of the present specification.
The computer readable storage medium may employ any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium may include, for example, but is 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 would include the following: an electrical connection having one or more wires, a portable disk, a hard disk, random Access Memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
The basic principles of the present application have been described above in connection with specific embodiments, however, it should be noted that the advantages, benefits, effects, etc. mentioned in the present application are merely examples and not limiting, and these advantages, benefits, effects, etc. are not to be considered as necessarily possessed by the various embodiments of the present application. Furthermore, the specific details disclosed herein are for purposes of illustration and understanding only, and are not intended to be limiting, as the application is not intended to be limited to the details disclosed herein as such.
The block diagrams of the devices, apparatuses, devices, systems referred to in this application are only illustrative examples and are not intended to require or imply that the connections, arrangements, configurations must be made in the manner shown in the block diagrams. As will be appreciated by one of skill in the art, the devices, apparatuses, devices, systems may be connected, arranged, configured in any manner. Words such as "including," "comprising," "having," and the like are words of openness and mean "including but not limited to," and are used interchangeably therewith. The terms "or" and "as used herein refer to and are used interchangeably with the term" and/or "unless the context clearly indicates otherwise. The term "such as" as used herein refers to, and is used interchangeably with, the phrase "such as, but not limited to.
It is also noted that in the apparatus, devices and methods of the present application, the components or steps may be disassembled and/or assembled. Such decomposition and/or recombination should be considered as equivalent to 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, this description is not intended to limit the embodiments of the application to the form disclosed herein. Although a number of example aspects and embodiments have been discussed above, a person of ordinary skill in the art will recognize certain variations, modifications, alterations, additions, and subcombinations thereof.
Claims (8)
1. The simulation test method of the execution mechanism is characterized by being applied to a test host, wherein an execution mechanism simulation model for testing the execution mechanism and a whole vehicle logic control simulation model corresponding to the execution mechanism are constructed on the test host, the languages used by the execution mechanism simulation model and the languages used by the whole vehicle logic control simulation model are incompatible, and the simulation test method comprises the following steps:
variable address information of an operation variable in an execution file of the execution mechanism is obtained; wherein the variable address information characterizes the running variable in a specific position in the execution file;
acquiring or/and modifying the value of the running variable in the execution file based on the variable address information;
obtaining result address information of an output result of the execution mechanism in the execution file; the result address information represents a specific position of an output result of the executing mechanism in the executing file;
based on the result address information, obtaining an output result of the executing mechanism; wherein the output result of the executing mechanism is obtained after the executing mechanism is operated based on the value of the operation variable; and
and combining the output result of the executing mechanism and the whole vehicle output result of the whole vehicle logic control simulation model corresponding to the executing mechanism to comprehensively obtain a test result, and displaying the test result on the whole vehicle logic control simulation model.
2. The method for simulating test of an actuator according to claim 1, wherein the obtaining variable address information of an operation variable in an execution file of the actuator 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.
3. The method for simulating testing an actuator according to claim 1, wherein the obtaining the result address information of the output result of the actuator in the execution file includes:
recording a result storage starting position and a result byte length of an output result of the executing mechanism; and
and acquiring the result address information according to the result storage starting position and the result byte length.
4. The simulation test method of the execution mechanism according to claim 1, wherein the combining the output result of the execution mechanism and the output result of the whole vehicle logic control simulation model corresponding to the execution mechanism includes:
and adjusting the output result of the executing mechanism according to the limiting relation between the whole vehicle output result and the output result of the executing mechanism.
5. The simulation test method of the execution mechanism according to claim 1, wherein the obtaining manner of the execution file comprises:
generating an execution code according to the simulation model of the execution mechanism; and
compiling the execution code to obtain the execution file.
6. The simulation test device of the actuating mechanism is arranged in a test host, and the test host is provided with an actuating mechanism simulation model for testing the actuating mechanism and a whole vehicle logic control simulation model corresponding to the actuating mechanism, wherein the language used by the actuating mechanism simulation model is incompatible with the language used by the whole vehicle logic control simulation model, and the simulation test device is characterized by comprising:
the variable address acquisition module is used for acquiring variable address information of an operation variable in an execution file of the execution mechanism; wherein the variable address information characterizes the running variable in a specific position in the execution file;
the variable determining module is used for acquiring or/and modifying the value of the running variable in the execution file based on the variable address information;
the result address acquisition module is used for acquiring result address information of an output result of the execution mechanism in the execution file; the result address information represents a specific position of an output result of the executing mechanism in the executing file;
the result acquisition module is used for acquiring an output result of the execution mechanism based on the result address information; wherein the output result of the executing mechanism is obtained after the executing mechanism is operated based on the value of the operation variable; and
and the comprehensive test module is used for combining the output result of the executing mechanism and the whole vehicle output result of the whole vehicle logic control simulation model corresponding to the executing mechanism, comprehensively obtaining a test result, and displaying the test result on the whole vehicle logic control simulation model.
7. An intelligent boom, characterized by comprising:
a processor;
a memory for storing the processor-executable instructions;
the processor is configured to execute the simulation test method of the actuator according to any one of claims 1 to 5.
8. An engineering vehicle, comprising:
a processor;
a memory for storing the processor-executable instructions;
the processor is configured to execute the simulation test method of the actuator according to any one of claims 1 to 5.
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