CN113255153A - Analog simulation method and device for electric power steering system and storage medium - Google Patents
Analog simulation method and device for electric power steering system and storage medium Download PDFInfo
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Abstract
The embodiment of the application discloses an analog simulation method and device and a storage medium of an electric power steering system, and belongs to the technical field of analog simulation. The method comprises the following steps: building a whole automobile model of the automobile in an ADASM application program, and building an electric power steering system model in an Amesim application program, wherein the whole automobile model is built according to an entity structure of the automobile; associating the entire vehicle model with the electric power steering system model in the Amesim application; and performing analog simulation on the electric power steering system of the automobile according to the whole automobile model and the electric power steering system model. According to the embodiment of the application, the ADASM application program and the Amesim application program are used for jointly simulating the electric power steering system of the automobile, and the complete whole automobile power model is included in the joint simulation process, so that the simulation reliability of the electric power steering system is improved.
Description
Technical Field
The embodiment of the application relates to the technical field of analog simulation, in particular to an analog simulation method and device and a storage medium of an electric power steering system.
Background
An Electric Power Steering (EPS) of an automobile is a Power Steering system directly relying on a motor to assist torque, and mainly comprises a torque sensor, a motor, a speed reducing mechanism and an electronic control unit, and the EPS is a very important system in the automobile and has a great influence on the performance of the whole automobile. Therefore, in order to ensure good performance of the whole vehicle, in a development stage of the whole vehicle, analog simulation is generally required to be performed on an electric power steering system of the vehicle.
Currently, EPS of automobiles can be simulated by Simulink applications. However, the EPS model built through the Simulink application program is a mathematical model, and the EPS model cannot reflect the influence of related parameters of the EPS system on the EPS system and the performance of the whole vehicle, so that the EPS simulation result is low in accuracy, and the simulation has limitations.
Disclosure of Invention
The embodiment of the application provides an analog simulation method and device of an electric power steering system and a storage medium, which can be used for solving the problems of low reliability and limitation of simulation of EPS simulation in the related technology. The technical scheme is as follows:
in one aspect, an analog simulation method for an electric power steering system is provided, where the method includes:
building a whole automobile model of an automobile in an ADASM application program of mechanical system dynamics automatic analysis, and building an electric power steering system model in an Amesim application program of a complex system modeling simulation platform in the multidisciplinary field, wherein the whole automobile model is built according to the entity structure of the automobile;
associating the entire vehicle model with the electric power steering system model in the Amesim application;
and performing analog simulation on the electric power steering system of the automobile according to the whole automobile model and the electric power steering system model.
In some embodiments, said associating said full vehicle model with said electric power steering system model in said Amesim application comprises:
processing the whole vehicle model in the ADASM application program to obtain a first calling file corresponding to the whole vehicle model;
and in the Amesim application program, associating a first calling file corresponding to the whole vehicle model with the electric power steering system model.
In some embodiments, the processing the entire vehicle model in the ADASM application program to obtain a first call file corresponding to the entire vehicle model includes:
setting an input variable and an output variable of the whole vehicle model in the ADASM application program, wherein the input variable of the whole vehicle model is the output variable of the electric power steering system model;
creating a drive control file of the whole automobile model, wherein the drive control file is used for describing control parameters in the automobile driving process, and the simulation time length of the drive control file is not less than the simulation time length for carrying out simulation on an electric power steering system of the automobile in the Amesim application program;
simulating the drive control file to obtain a second calling file with a specified format;
and exporting the whole vehicle model from the ADASM application program according to the second calling file to obtain the first calling file, wherein the file prefix of the first calling file is the same as the name of the second calling file.
In some embodiments, the associating, in the Amesim application, a first call file corresponding to the entire vehicle model with the electric power steering system model includes:
setting a standard communication module in the Amesim application program, wherein the standard communication module is a module for enabling all the functional modules to communicate;
compiling the first calling file through the Amesim application program to obtain a third calling file;
replacing the standard communication module with the third call-up file to associate the third call-up file with the electric power steering system model.
In some embodiments, before associating the entire vehicle model with the electric power steering system model in the Amesim application, the method further comprises:
creating a system state variable in the ADASM application, wherein the system state variable is used for indicating that the ADASM application and the parameter variable used in the Amesim application are unified in a unit system.
In another aspect, an analog simulation apparatus of an electric power steering system is provided, the apparatus including:
the system comprises a building module, a simulation module and a control module, wherein the building module is used for building a whole automobile model of an automobile in an ADASM application program of mechanical system dynamics automatic analysis, and building an electric power steering system model in an Amesim application program of a complex system modeling simulation platform in the multidisciplinary field, and the whole automobile model is built according to the entity structure of the automobile;
the correlation module is used for correlating the whole vehicle model with the electric power steering system model in the Amesim application program;
and the simulation module is used for carrying out simulation on the electric power steering system of the automobile according to the whole automobile model and the electric power steering system model.
In some embodiments, the association module comprises:
the processing submodule is used for processing the whole vehicle model in the ADASM application program to obtain a first calling file corresponding to the whole vehicle model;
and the association submodule is used for associating a first calling file corresponding to the whole vehicle model with the electric power steering system model in the Amesim application program.
In some embodiments, the processing submodule is to:
setting an input variable and an output variable of the whole vehicle model in the ADASM application program, wherein the input variable of the whole vehicle model is the output variable of the electric power steering system model;
creating a drive control file of the whole automobile model, wherein the drive control file is used for describing control parameters in the automobile driving process, and the simulation time length of the drive control file is not less than the simulation time length for carrying out simulation on an electric power steering system of the automobile in the Amesim application program;
simulating the drive control file to obtain a second calling file with a specified format;
and exporting the whole vehicle model from the ADASM application program according to the second calling file to obtain the first calling file, wherein the file prefix of the first calling file is the same as the name of the second calling file.
In some embodiments, the association submodule is to:
setting a standard communication module in the Amesim application program, wherein the standard communication module is a module for enabling all the functional modules to communicate;
compiling the first calling file through the Amesim application program to obtain a third calling file;
replacing the standard communication module with the third call-up file to associate the third call-up file with the electric power steering system model.
In some embodiments, the apparatus further comprises:
and the creating module is used for creating a system state variable in the ADASM application program, wherein the system state variable is used for indicating that the ADASM application program and the variable of the parameter used in the Amesim application program are unified in a unit system.
In another aspect, a computer-readable storage medium is provided, which has instructions stored thereon, and when the instructions are executed by a processor, the instructions implement any one of the steps of the above-mentioned analog simulation method of the electric power steering system.
The beneficial effects brought by the technical scheme provided by the embodiment of the application at least comprise:
in the embodiment of the application, the electric power steering system of the automobile can be simulated jointly through the ADASM application program and the Amesim application program, and because a complete whole automobile power model is included in the joint simulation process, the influence of related parameters of the EPS system on the EPS system and the performance of the whole automobile is reflected, and the simulation reliability of the electric power steering system is improved.
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In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a schematic diagram of an implementation environment provided by an embodiment of the present application;
fig. 2 is a flowchart of an analog simulation method of an electric power steering system according to an embodiment of the present disclosure;
FIG. 3 is a flow chart of an analog simulation method for an electric power steering system according to an embodiment of the present disclosure;
fig. 4 is a schematic structural diagram of an analog simulation device of an electric power steering system according to an embodiment of the present application;
fig. 5 is a schematic structural diagram of an association module according to an embodiment of the present disclosure;
fig. 6 is a schematic structural diagram of an analog simulation device of another electric power steering system according to an embodiment of the present application;
fig. 7 is a schematic structural diagram of a terminal according to an embodiment of the present application.
Detailed Description
To make the objects, technical solutions and advantages of the embodiments of the present application more clear, the embodiments of the present application will be further described in detail with reference to the accompanying drawings.
Before explaining the simulation method of the electric power steering system provided in the embodiment of the present application in detail, an application scenario and an implementation environment provided in the embodiment of the present application are explained in detail.
First, an application scenario provided in the embodiment of the present application is explained.
Since the EPS of an automobile is a very important system in the automobile, there is a great influence on the performance of the entire automobile. Therefore, in order to ensure good performance of the whole vehicle, the EPS of the vehicle can be simulated by the Simulink application program in the development stage of the whole vehicle. However, the EPS model built through the Simulink application program is a mathematical model, and the EPS model cannot reflect the influence of physical parameters such as motor voltage, current and resistance on the whole system and even the whole vehicle, so that the model cannot support the model selection and calibration of the motor, and simulation has limitation.
Based on the application scenario, the embodiment of the application provides an analog simulation method of the electric power steering system, which can improve the accuracy and reliability of analog simulation.
Next, an implementation environment provided in the embodiments of the present application is explained.
Fig. 1 is a schematic diagram of an implementation environment provided by an embodiment of the present application, and referring to fig. 1, the analog simulation method of the electric power steering system is applied to a terminal, the terminal can be installed with an ADASM application 1 and an Amesim application 2, the ADASM application 1 can include an Acar application, and both the ADASM application and the Amesim application 2 are applications capable of performing analog simulation.
The ADASM application program 1 can build a whole vehicle model (also called a whole vehicle dynamic model) of the vehicle, the Amesim application program 2 can build an electric power steering system model of the vehicle, and the terminal can associate the ADASM application program 1 with the Amesim application program 2, so that combined simulation of the electric power steering system of the vehicle is achieved.
Fig. 2 is a flowchart of an analog simulation method of an electric power steering system according to an embodiment of the present disclosure, where the analog simulation method of the electric power steering system may include the following steps:
step 201: a whole automobile model of the automobile is built in an ADASM application program of mechanical system dynamics automatic analysis, an electric power steering system model is built in an Amesim application program of a complex system modeling simulation platform in the multidisciplinary field, and the whole automobile model is built according to the entity structure of the automobile.
Step 202: and correlating the whole vehicle model with the electric power steering system model in the Amesim application program.
Step 203: and performing analog simulation on the electric power steering system of the automobile according to the whole automobile model and the electric power steering system model.
In the embodiment of the application, the electric power steering system of the automobile can be simulated jointly through the ADASM application program and the Amesim application program, and because a complete whole automobile power model is included in the joint simulation process, the influence of related parameters of the EPS system on the EPS system and the performance of the whole automobile is reflected, and the simulation reliability of the electric power steering system is improved.
In some embodiments, associating the entire vehicle model with the electric power steering system model in the Amesim application includes:
processing the whole vehicle model in the ADASM application program to obtain a first calling file corresponding to the whole vehicle model;
and in the Amesim application program, associating a first calling file corresponding to the whole vehicle model with the electric power steering system model.
In some embodiments, processing the entire vehicle model in the ADASM application program to obtain a first call file corresponding to the entire vehicle model includes:
setting an input variable and an output variable of the whole vehicle model in the ADASM application program, wherein the input variable of the whole vehicle model is the output variable of the electric power steering system model;
creating a drive control file of the whole vehicle model, wherein the drive control file is used for describing control parameters in the driving process of the vehicle, and the simulation duration of the drive control file is not less than the simulation duration of the simulation of the electric power steering system of the vehicle in the Amesim application program;
simulating the drive control file to obtain a second calling file with a specified format;
and exporting the whole vehicle model from the ADASM application program according to the second calling file to obtain the first calling file, wherein the file prefix of the first calling file is the same as the name of the second calling file.
In some embodiments, in the Amesim application, associating the first call file corresponding to the entire vehicle model with the electric power steering system model includes:
setting a standard communication module in the Amesim application program, wherein the standard communication module is a module for enabling all the functional modules to communicate;
compiling the first calling file through the Amesim application program to obtain a third calling file;
replacing the standard communication module with the third call-up file to associate the third call-up file with the electric power steering system model.
In some embodiments, prior to associating the entire vehicle model with the electric power steering system model in the Amesim application, further comprising:
creating a system state variable in the ADASM application, wherein the system state variable is used for indicating that the ADASM application and the parameter variable used in the Amesim application are unified in a unit system.
All the above optional technical solutions can be combined arbitrarily to form an optional embodiment of the present application, and the present application embodiment is not described in detail again.
Fig. 3 is a flowchart of an analog simulation method of an electric power steering system according to an embodiment of the present disclosure, which is exemplified by applying the analog simulation method of the electric power steering system to a terminal, and the analog simulation method of the electric power steering system may include the following steps:
step 301: the terminal builds a whole automobile model of an automobile in an ADASM application program, and builds an electric power steering system model in a complex system modeling simulation platform Amesim application program in the multidisciplinary field.
It should be noted that the entire vehicle model is built according to the physical structure of the vehicle.
As an example, the terminal can build a complete vehicle model of the vehicle in the ADASM application program through the first specified proportion when receiving the first building instruction. The first designated proportion is a proportion between the physical structure of the automobile and the first entire automobile model, and the first designated proportion can be set in advance according to requirements, for example, the first designated proportion can be 200:1, 400:1 and the like.
In some embodiments, the terminal can build a whole vehicle model of the vehicle in the ADASM application program through the first specified proportion when receiving the first building instruction, and can also obtain the built whole vehicle model of the vehicle from the storage file when receiving the obtaining instruction, and load the obtained whole vehicle model into the ADASM application program to complete building of the whole vehicle model of the vehicle.
It should be noted that the first building instruction and the obtaining instruction can be triggered when a user acts on the display interface of the ADASM application program through a specified operation, where the specified operation can be a click operation, a slide operation, a voice operation, and so on. The whole vehicle model is a whole vehicle power learning model of the vehicle.
In some embodiments, before the terminal builds a complete vehicle model of the vehicle in the ADASM application, the terminal may further receive a first start instruction, and run the ADASM application according to the first start instruction.
It should be noted that the first start instruction can be triggered when the user acts on an identifier of the ADASM application program displayed in the terminal through a specified operation, and the identifier of the ADASM application program can be an image identifier and/or a text identifier.
In some embodiments, the terminal is further capable of building an electric power steering system model in the Amesim application program through a second specified proportion when receiving a second building instruction, where the second specified proportion is a proportion between a physical structure of an electric power steering system of the automobile and the electric power steering system model, and the second specified proportion can be set in advance according to requirements, for example, the second specified proportion can be 200: 1. 400:1, etc., the first command ratio can be the same as the second specified ratio, or can be different, but in order to ensure the accuracy and reliability of the simulation, the terminal can set the first command ratio to be the same as the second specified ratio.
It should be noted that the second building instruction can be triggered when the user acts on the Amesim application display interface through a specified operation.
In some embodiments, before the terminal builds the electric power steering system of the automobile in the Amesim application program, the terminal can also receive a second starting instruction, and operate the Amesim application program according to the second starting instruction.
It should be noted that the second start instruction can be triggered when the user acts on the identifier of the Amesim application program displayed in the terminal through a specified operation, and the identifier of the Amesim application program can be an image identifier and/or a text identifier.
It should be noted that, in the embodiment of the present application, the order of building the entire vehicle model and the electric power steering system model by the terminal is not limited.
Step 302: and the terminal associates the whole vehicle model with the electric power steering system model in an Amesim application program.
In order to realize the joint simulation of the ADASM application program and the Amesim application program on the electric power steering system, the terminal can associate the whole vehicle model and the electric power steering system model in the Amesim application program.
As an example, the operation of associating the whole vehicle model with the electric power steering system model in the Amesim application by the terminal includes: processing the whole vehicle model in an ADASM application program to obtain a first calling file corresponding to the whole vehicle model; in an Amesim application program, a first calling file corresponding to a whole vehicle model is associated with an electric power steering system model.
In some embodiments, the operation of processing the entire vehicle model in the ADASM application by the terminal to obtain the first call file corresponding to the entire vehicle model includes: setting an input variable and an output variable of a whole vehicle model in an ADASM application program, wherein the input variable of the whole vehicle model is the output variable of an electric power steering system model; creating a drive control file of a whole vehicle model, wherein the drive control file is used for describing control parameters in the driving process of the vehicle, and the simulation duration of the drive control file is not less than the simulation duration of the simulation of the electric power steering system of the vehicle in the Amesim application program; simulating the drive control file to obtain a second calling file with a specified format; and according to the second calling file, the whole vehicle model is exported from the ADASM application program to obtain a first calling file, and the file prefix of the first calling file is the same as the name of the second calling file.
It should be noted that the input variables of the entire vehicle model set in the ADASM application by the terminal include a rack force of the steering gear, and the output variables include a vehicle speed, a steering wheel angle, a lateral acceleration, a roll angle, and the like. The vehicle speed and the steering wheel angle are necessary output items, the lateral acceleration and the roll angle can be selected as the output items, and the terminal can select the selectable output items according to the selection operation of a user.
In some embodiments, the terminal is also capable of friction setting any subsystem in the electric power steering system in the Amesim application.
In some embodiments, since there can be unit differences between the Amesim application and the ADASM application, when the input variables and the output variables of the entire vehicle model are set in the ADASM application, a system state variable for indicating unification of the unit system of the variables of the parameters used in the ADASM application and the Amesim application can also be created in the ADASM application. For example, a variable indicating parameters used in the ADASM application and the Amesim application performs a conversion in a unit system. For example, transitions between arc, meter and millimeter.
In some embodiments, the terminal can create a drive control file when receiving the creation instruction in the ADASM application, where the drive control file can include control parameters of the automobile during driving, such as driving speed, throttle control parameters, steering wheel angle control parameters, and the like.
It should be noted that the designated format may be an acf format, and in order to increase the simulation speed, the terminal sets the simulation mode to the files _ only mode when simulating the drive control file through the entire vehicle model. The first call file can be a file of an FMU (functional model unit) standard interface, that is, the terminal can export the entire vehicle model from the ADASM application program by using the FMU standard interface, thereby obtaining the first call file.
In some embodiments, the operation of associating, by the terminal in the Amesim application program, the first call file corresponding to the entire vehicle model with the electric power steering system model includes: setting a standard communication module in an Amesim application program, wherein the standard communication module is a module for enabling all functional modules to communicate; compiling the first calling file through an Amesim application program to obtain a third calling file; the standard communication module is replaced with a third call-file to associate the third call-file with the electric power steering system model.
It should be noted that the standard communication module can be an FMI (Functional module-up Interface) module, that is, the standard communication module set by the terminal in the Amesim application is an FMI module, and the terminal can create the FMI module through Interface Icon Creation (elementary hydraulic simulation Creation Interface), and set input variables and output variables of the FMI module, where the number of the input variables is at least 1, and the number of the output variables is at least 2. The output variables can include parameters related to objective measurement of vehicle ride comfort, such as lateral acceleration, roll angle, and the like.
In some embodiments, the terminal compiles the first call file through an Amesim application program to obtain a third call file, wherein the third call file can be FMI Imported blocks (a FMI-type file); and then replacing the standard communication module with a third calling file, namely replacing the FMI module with FMI Imported blocks, so as to associate the third calling file with the electric power steering system model, namely associating the whole vehicle model with the electric power steering system model.
Step 303: and the terminal carries out analog simulation on the electric power steering system of the automobile according to the whole automobile model and the electric power steering system model.
Because the terminal not only builds the electric power steering system model in the Amesim application program, but also builds the whole vehicle model, the terminal can carry out analog simulation on the electric main power steering system of the vehicle according to the electric power steering system model and the whole vehicle model in the Amesim application program.
Therefore, when the terminal carries out simulation in the Amesim application program, the electric power steering system model can output the rack force of the steering gear to the whole vehicle model in the simulation process, and the whole vehicle model can continue to carry out simulation of the electric power steering system through the rack force of the steering gear.
Step 304: and the terminal displays the simulation result in the Amesim application program.
Because the terminal carries out analog simulation on the electric power steering system of the automobile in the Amesim application program, after the simulation is finished, the terminal can display an analog simulation result in the Amesim application program.
In the embodiment of the application, the terminal can jointly simulate the electric power steering system of the automobile through the ADASM application program and the Amesim application program, and the joint simulation process comprises a complete whole automobile power model and comprises parameters such as current, voltage and resistance of a power-assisted motor, so that the influence of related parameters of the EPS system on the EPS system and the performance of the whole automobile is reflected, and the simulation reliability of the electric power steering system is improved. In addition, as friction setting can be carried out on any subsystem in the electric power steering system in the simulation process, the defect that system friction cannot be defined by direct broadcasting of a mathematical model built by a Simulink application program is overcome. Moreover, the joint simulation model is strong in reproducibility and expansibility, the model can be changed according to the power assisting input position of a power assisting motor of an actual vehicle product, advantages and disadvantages of different power assisting positions are analyzed, meanwhile, the joint simulation model can be expanded to an ADASM model of the whole vehicle for intelligent driving simulation, and the application range of the model is expanded.
Fig. 4 is a schematic structural diagram of an analog simulation device of an electric power steering system according to an embodiment of the present disclosure, where the analog simulation device of the electric power steering system can be implemented by software, hardware, or a combination of the two. The analog simulation device of the electric power steering system may include: a building module 401, an association module 402 and a simulation module 403.
The building module 401 is used for building a whole automobile model of an automobile in an ADASM application program of mechanical system dynamics automatic analysis, and building an electric power steering system model in an Amesim application program of a complex system modeling simulation platform in the multidisciplinary field, wherein the whole automobile model is built according to the entity structure of the automobile;
an association module 402, configured to associate the entire vehicle model with the electric power steering system model in the Amesim application;
and the simulation module 403 is configured to perform simulation on the electric power steering system of the automobile according to the entire automobile model and the electric power steering system model.
In some embodiments, referring to fig. 5, the associating module 402 comprises:
the processing submodule 4021 is configured to process the entire vehicle model in the ADASM application program to obtain a first call file corresponding to the entire vehicle model;
the association submodule 4022 is configured to associate a first call file corresponding to the entire vehicle model with the electric power steering system model in the Amesim application program.
In some embodiments, the processing sub-module 4021 is configured to:
setting an input variable and an output variable of the whole vehicle model in the ADASM application program, wherein the input variable of the whole vehicle model is the output variable of the electric power steering system model;
creating a drive control file of the whole automobile model, wherein the drive control file is used for describing control parameters in the automobile driving process, and the simulation time length of the drive control file is not less than the simulation time length for carrying out simulation on an electric power steering system of the automobile in the Amesim application program;
simulating the drive control file to obtain a second calling file with a specified format;
and exporting the whole vehicle model from the ADASM application program according to the second calling file to obtain the first calling file, wherein the file prefix of the first calling file is the same as the name of the second calling file.
In some embodiments, the association sub-module 4022 is configured to:
setting a standard communication module in the Amesim application program, wherein the standard communication module is a module for enabling all the functional modules to communicate;
compiling the first calling file through the Amesim application program to obtain a third calling file;
replacing the standard communication module with the third call-up file to associate the third call-up file with the electric power steering system model.
In some embodiments, referring to fig. 6, the apparatus further comprises:
a creating module 404, configured to create a system state variable in the ADASM application, where the system state variable is used to indicate unification of a system of units of the ADASM application and a variable of a parameter used in the Amesim application.
In the embodiment of the application, the terminal can jointly simulate the electric power steering system of the automobile through the ADASM application program and the Amesim application program, and the joint simulation process comprises a complete whole automobile power model and comprises parameters such as current, voltage and resistance of a power-assisted motor, so that the influence of related parameters of the EPS system on the EPS system and the performance of the whole automobile is reflected, and the simulation reliability of the electric power steering system is improved. In addition, as friction setting can be carried out on any subsystem in the electric power steering system in the simulation process, the defect that system friction cannot be defined by direct broadcasting of a mathematical model built by a Simulink application program is overcome. Moreover, the joint simulation model is strong in reproducibility and expansibility, the model can be changed according to the power assisting input position of the power assisting motor of an actual vehicle product, advantages and disadvantages of different power assisting positions are analyzed, meanwhile, the joint simulation model can be expanded to the whole vehicle ADAS model for intelligent driving simulation, and the application range of the model is expanded.
It should be noted that: in the simulation device of the electric power steering system according to the above embodiment, when the electric power steering system is simulated, only the division of the functional modules is taken as an example, and in practical applications, the functions may be distributed by different functional modules according to needs, that is, the internal structure of the device may be divided into different functional modules, so as to complete all or part of the functions described above. In addition, the analog simulation device of the electric power steering system and the analog simulation method of the electric power steering system provided by the above embodiments belong to the same concept, and specific implementation processes thereof are detailed in the method embodiments and are not described herein again.
Fig. 7 shows a block diagram of a terminal 700 according to an exemplary embodiment of the present application. The terminal 700 may be: a smart phone, a tablet computer, an MP3 player (Moving Picture Experts Group Audio Layer III, motion video Experts compression standard Audio Layer 3), an MP4 player (Moving Picture Experts Group Audio Layer IV, motion video Experts compression standard Audio Layer 4), a notebook computer, or a desktop computer. Terminal 700 may also be referred to by other names such as user equipment, portable terminal, laptop terminal, desktop terminal, and so on.
In general, terminal 700 includes: a processor 701 and a memory 702.
The processor 701 may include one or more processing cores, such as a 4-core processor, an 8-core processor, and so on. The processor 701 may be implemented in at least one hardware form of a DSP (Digital Signal Processing), an FPGA (Field-Programmable Gate Array), and a PLA (Programmable Logic Array). The processor 701 may also include a main processor and a coprocessor, where the main processor is a processor for Processing data in an awake state, and is also called a Central Processing Unit (CPU); a coprocessor is a low power processor for processing data in a standby state. In some embodiments, the processor 701 may be integrated with a GPU (Graphics Processing Unit) which is responsible for rendering and drawing the content required to be displayed by the display screen. In some embodiments, the processor 701 may further include an AI (Artificial Intelligence) processor for processing computing operations related to machine learning.
In some embodiments, the terminal 700 may further optionally include: a peripheral interface 703 and at least one peripheral. The processor 701, the memory 702, and the peripheral interface 703 may be connected by buses or signal lines. Various peripheral devices may be connected to peripheral interface 703 via a bus, signal line, or circuit board. Specifically, the peripheral device includes: at least one of a radio frequency circuit 704, a display screen 705, a camera assembly 706, an audio circuit 707, a positioning component 708, and a power source 709.
The peripheral interface 703 may be used to connect at least one peripheral related to I/O (Input/Output) to the processor 701 and the memory 702. In some embodiments, processor 701, memory 702, and peripheral interface 703 are integrated on the same chip or circuit board; in some other embodiments, any one or two of the processor 701, the memory 702, and the peripheral interface 703 may be implemented on a separate chip or circuit board, which is not limited in this embodiment.
The Radio Frequency circuit 704 is used for receiving and transmitting RF (Radio Frequency) signals, also called electromagnetic signals. The radio frequency circuitry 704 communicates with communication networks and other communication devices via electromagnetic signals. The rf circuit 704 converts an electrical signal into an electromagnetic signal to transmit, or converts a received electromagnetic signal into an electrical signal. Optionally, the radio frequency circuit 704 includes: an antenna system, an RF transceiver, one or more amplifiers, a tuner, an oscillator, a digital signal processor, a codec chipset, a subscriber identity module card, and so forth. The radio frequency circuitry 704 may communicate with other terminals via at least one wireless communication protocol. The wireless communication protocols include, but are not limited to: metropolitan area networks, various generation mobile communication networks (2G, 3G, 4G, and 5G), Wireless local area networks, and/or WiFi (Wireless Fidelity) networks. In some embodiments, the radio frequency circuit 704 may also include NFC (Near Field Communication) related circuits, which are not limited in this application.
The display screen 705 is used to display a UI (User Interface). The UI may include graphics, text, icons, video, and any combination thereof. When the display screen 705 is a touch display screen, the display screen 705 also has the ability to capture touch signals on or over the surface of the display screen 705. The touch signal may be input to the processor 701 as a control signal for processing. At this point, the display 705 may also be used to provide virtual buttons and/or a virtual keyboard, also referred to as soft buttons and/or a soft keyboard. In some embodiments, the display 705 may be one, providing the front panel of the terminal 700; in other embodiments, the display 705 can be at least two, respectively disposed on different surfaces of the terminal 700 or in a folded design; in other embodiments, the display 705 may be a flexible display disposed on a curved surface or on a folded surface of the terminal 700. Even more, the display 705 may be arranged in a non-rectangular irregular pattern, i.e. a shaped screen. The Display 705 may be made of LCD (Liquid Crystal Display), OLED (Organic Light-Emitting Diode), or the like.
The camera assembly 706 is used to capture images or video. Optionally, camera assembly 706 includes a front camera and a rear camera. Generally, a front camera is disposed at a front panel of the terminal, and a rear camera is disposed at a rear surface of the terminal. In some embodiments, the number of the rear cameras is at least two, and each rear camera is any one of a main camera, a depth-of-field camera, a wide-angle camera and a telephoto camera, so that the main camera and the depth-of-field camera are fused to realize a background blurring function, and the main camera and the wide-angle camera are fused to realize panoramic shooting and VR (Virtual Reality) shooting functions or other fusion shooting functions. In some embodiments, camera assembly 706 may also include a flash. The flash lamp can be a monochrome temperature flash lamp or a bicolor temperature flash lamp. The double-color-temperature flash lamp is a combination of a warm-light flash lamp and a cold-light flash lamp, and can be used for light compensation at different color temperatures.
The audio circuitry 707 may include a microphone and a speaker. The microphone is used for collecting sound waves of a user and the environment, converting the sound waves into electric signals, and inputting the electric signals to the processor 701 for processing or inputting the electric signals to the radio frequency circuit 704 to realize voice communication. For the purpose of stereo sound collection or noise reduction, a plurality of microphones may be provided at different portions of the terminal 700. The microphone may also be an array microphone or an omni-directional pick-up microphone. The speaker is used to convert electrical signals from the processor 701 or the radio frequency circuit 704 into sound waves. The loudspeaker can be a traditional film loudspeaker or a piezoelectric ceramic loudspeaker. When the speaker is a piezoelectric ceramic speaker, the speaker can be used for purposes such as converting an electric signal into a sound wave audible to a human being, or converting an electric signal into a sound wave inaudible to a human being to measure a distance. In some embodiments, the audio circuitry 707 may also include a headphone jack.
The positioning component 708 is used to locate the current geographic Location of the terminal 700 for navigation or LBS (Location Based Service). The Positioning component 708 can be a Positioning component based on the GPS (Global Positioning System) in the united states, the beidou System in china, the graves System in russia, or the galileo System in the european union.
In some embodiments, terminal 700 also includes one or more sensors 710. The one or more sensors 710 include, but are not limited to: acceleration sensor 711, gyro sensor 712, pressure sensor 713, fingerprint sensor 714, optical sensor 715, and proximity sensor 716.
The acceleration sensor 711 can detect the magnitude of acceleration in three coordinate axes of a coordinate system established with the terminal 700. For example, the acceleration sensor 711 may be used to detect components of the gravitational acceleration in three coordinate axes. The processor 701 may control the display screen 705 to display the user interface in a landscape view or a portrait view according to the gravitational acceleration signal collected by the acceleration sensor 711. The acceleration sensor 711 may also be used for acquisition of motion data of a game or a user.
The gyro sensor 712 may detect a body direction and a rotation angle of the terminal 700, and the gyro sensor 712 may cooperate with the acceleration sensor 711 to acquire a 3D motion of the terminal 700 by the user. From the data collected by the gyro sensor 712, the processor 701 may implement the following functions: motion sensing (such as changing the UI according to a user's tilting operation), image stabilization at the time of photographing, game control, and inertial navigation.
Pressure sensors 713 may be disposed on a side frame of terminal 700 and/or underneath display 705. When the pressure sensor 713 is disposed on a side frame of the terminal 700, a user's grip signal on the terminal 700 may be detected, and the processor 701 performs right-left hand recognition or shortcut operation according to the grip signal collected by the pressure sensor 713. When the pressure sensor 713 is disposed at a lower layer of the display screen 705, the processor 701 controls the operability control on the UI interface according to the pressure operation of the user on the display screen 705. The operability control comprises at least one of a button control, a scroll bar control, an icon control and a menu control.
The fingerprint sensor 714 is used for collecting a fingerprint of a user, and the processor 701 identifies the identity of the user according to the fingerprint collected by the fingerprint sensor 714, or the fingerprint sensor 714 identifies the identity of the user according to the collected fingerprint. When the user identity is identified as a trusted identity, the processor 701 authorizes the user to perform relevant sensitive operations, including unlocking a screen, viewing encrypted information, downloading software, paying, changing settings, and the like. The fingerprint sensor 714 may be disposed on the front, back, or side of the terminal 700. When a physical button or a vendor Logo is provided on the terminal 700, the fingerprint sensor 714 may be integrated with the physical button or the vendor Logo.
The optical sensor 715 is used to collect the ambient light intensity. In one embodiment, the processor 701 may control the display brightness of the display screen 705 based on the ambient light intensity collected by the optical sensor 715. Specifically, when the ambient light intensity is high, the display brightness of the display screen 705 is increased; when the ambient light intensity is low, the display brightness of the display screen 705 is adjusted down. In another embodiment, processor 701 may also dynamically adjust the shooting parameters of camera assembly 706 based on the ambient light intensity collected by optical sensor 715.
A proximity sensor 716, also referred to as a distance sensor, is typically disposed on a front panel of the terminal 700. The proximity sensor 716 is used to collect the distance between the user and the front surface of the terminal 700. In one embodiment, when the proximity sensor 716 detects that the distance between the user and the front surface of the terminal 700 gradually decreases, the processor 701 controls the display 705 to switch from the bright screen state to the dark screen state; when the proximity sensor 716 detects that the distance between the user and the front surface of the terminal 700 is gradually increased, the processor 701 controls the display 705 to switch from the breath-screen state to the bright-screen state.
Those skilled in the art will appreciate that the configuration shown in fig. 7 is not intended to be limiting of terminal 700 and may include more or fewer components than those shown, or some components may be combined, or a different arrangement of components may be used.
The embodiment of the application also provides a non-transitory computer readable storage medium, and when instructions in the storage medium are executed by a processor of a terminal, the terminal is enabled to execute the simulation method of the electric power steering system provided by the above embodiment.
Embodiments of the present application further provide a computer program product containing instructions, which when run on a terminal, causes the terminal to execute the simulation method of the electric power steering system provided in the foregoing embodiments.
It will be understood by those skilled in the art that all or part of the steps for implementing the above embodiments may be implemented by hardware, or may be implemented by a program instructing relevant hardware, where the program may be stored in a computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a magnetic disk or an optical disk, etc.
The above description is only a preferred embodiment of the present application and should not be taken as limiting the present application, and any modifications, equivalents, improvements, etc. made within the spirit and principle of the present application should be included in the protection scope of the present application.
Claims (10)
1. An analog simulation method of an electric power steering system, characterized by comprising:
building a whole automobile model of an automobile in an ADASM application program of mechanical system dynamics automatic analysis, and building an electric power steering system model in an Amesim application program of a complex system modeling simulation platform in the multidisciplinary field, wherein the whole automobile model is built according to the entity structure of the automobile;
associating the entire vehicle model with the electric power steering system model in the Amesim application;
and performing analog simulation on the electric power steering system of the automobile according to the whole automobile model and the electric power steering system model.
2. The method of claim 1, wherein said associating said full vehicle model with said electric power steering system model in said Amesim application comprises:
processing the whole vehicle model in the ADASM application program to obtain a first calling file corresponding to the whole vehicle model;
and in the Amesim application program, associating a first calling file corresponding to the whole vehicle model with the electric power steering system model.
3. The method of claim 2, wherein the processing the full vehicle model in the ADASM application to obtain a first call file corresponding to the full vehicle model comprises:
setting an input variable and an output variable of the whole vehicle model in the ADASM application program, wherein the input variable of the whole vehicle model is the output variable of the electric power steering system model;
creating a drive control file of the whole automobile model, wherein the drive control file is used for describing control parameters in the automobile driving process, and the simulation time length of the drive control file is not less than the simulation time length for carrying out simulation on an electric power steering system of the automobile in the Amesim application program;
simulating the drive control file to obtain a second calling file with a specified format;
and exporting the whole vehicle model from the ADASM application program according to the second calling file to obtain the first calling file, wherein the file prefix of the first calling file is the same as the name of the second calling file.
4. The method of claim 2, wherein associating a first call file corresponding to the entire vehicle model with the electric power steering system model in the Amesim application comprises:
setting a standard communication module in the Amesim application program, wherein the standard communication module is a module for enabling all the functional modules to communicate;
compiling the first calling file through the Amesim application program to obtain a third calling file;
replacing the standard communication module with the third call-up file to associate the third call-up file with the electric power steering system model.
5. The method of any of claims 1-4, wherein prior to associating the full vehicle model with the electric power steering system model in the Amesim application, further comprising:
creating a system state variable in the ADASM application, wherein the system state variable is used for indicating that the ADASM application and the parameter variable used in the Amesim application are unified in a unit system.
6. An analog simulation apparatus of an electric power steering system, characterized by comprising:
the system comprises a building module, a simulation module and a control module, wherein the building module is used for building a whole automobile model of an automobile in an ADASM application program of mechanical system dynamics automatic analysis, and building an electric power steering system model in an Amesim application program of a complex system modeling simulation platform in the multidisciplinary field, and the whole automobile model is built according to the entity structure of the automobile;
the correlation module is used for correlating the whole vehicle model with the electric power steering system model in the Amesim application program;
and the simulation module is used for carrying out simulation on the electric power steering system of the automobile according to the whole automobile model and the electric power steering system model.
7. The apparatus of claim 6, wherein the association module comprises:
the processing submodule is used for processing the whole vehicle model in the ADASM application program to obtain a first calling file corresponding to the whole vehicle model;
and the association submodule is used for associating a first calling file corresponding to the whole vehicle model with the electric power steering system model in the Amesim application program.
8. The apparatus of claim 7, wherein the processing submodule is to:
setting an input variable and an output variable of the whole vehicle model in the ADASM application program, wherein the input variable of the whole vehicle model is the output variable of the electric power steering system model;
creating a drive control file of the whole automobile model, wherein the drive control file is used for describing control parameters in the automobile driving process, and the simulation time length of the drive control file is not less than the simulation time length for carrying out simulation on an electric power steering system of the automobile in the Amesim application program;
simulating the drive control file to obtain a second calling file with a specified format;
and exporting the whole vehicle model from the ADASM application program according to the second calling file to obtain the first calling file, wherein the file prefix of the first calling file is the same as the name of the second calling file.
9. The apparatus of claim 7, wherein the association submodule is to:
setting a standard communication module in the Amesim application program, wherein the standard communication module is a module for enabling all the functional modules to communicate;
compiling the first calling file through the Amesim application program to obtain a third calling file;
replacing the standard communication module with the third call-up file to associate the third call-up file with the electric power steering system model.
10. A computer-readable storage medium having stored thereon instructions which, when executed by a processor, carry out the steps of the method of any of the preceding claims 1 to 5.
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Application publication date: 20210813 |