CN114091245A - Hardware-in-the-loop teaching experiment method based on Simulink and low-code controller - Google Patents
Hardware-in-the-loop teaching experiment method based on Simulink and low-code controller Download PDFInfo
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Abstract
The invention discloses a hardware-in-the-loop teaching experiment method based on Simulink and a low-code controller, which adopts the low-code controller to develop a control strategy based on AOE event drive, builds a model of a controlled object and the environment thereof in the Simulink, and utilizes an S-function module as a control link of the model: the simulation model is controlled by realizing communication between the Simulink model and the low-code controller in the S-function module through a Modbus communication protocol, acquiring data from the model as input of the low-code controller and outputting a control signal after the low-code controller operates a control strategy. The method of the invention can make the simulation experiment closer to the actual situation, enriches the environment conditions which can be tested by the controller, can carry out more convenient, efficient and comprehensive verification test on the control strategy, and reduces the equipment and time cost of large-scale teaching experiments.
Description
Technical Field
The invention relates to the technical field of control simulation, in particular to a hardware-in-the-loop teaching experiment method based on Simulink and a low-code controller.
Background
In the course of traditional engineering courses such as electrical mechanical elements or systems, computer simulation and physical experiments are separated during experimental teaching, and only one of the computer simulation and the physical experiments is usually performed. There are two main problems with this approach: firstly, when a material object experiment is selected, a traditional controller needs a user to learn a hardware structure and an instruction system of the user and then write development codes and debug, the development threshold is high, time and labor are wasted, the use of teaching is not facilitated, the preparation of a controlled object and the environment thereof is long in time consumption, high in cost, large in error, potential safety hazard exists, the available environment is limited, and the development of large-scale teaching experiments is not facilitated; secondly, when selecting the simulation experiment, only using the computer simulation target element or system can couple the virtual object and the control link, so that the control strategy as the teaching key point is not clear, the control principle knowledge which is not beneficial to the students to master and design and verify the theory course, and the students can completely neglect the influence of the hardware and the actual environment thereof, thereby the students can lose the reality sense on the existence of the controller, and the actual controller development and use method in the industrial field and the whole teaching target of the experiment link are not beneficial to master.
Therefore, a universal teaching experiment method which combines computer simulation and a real-world experiment, is easy to develop and use by a controller, obviously reduces the cost of experimental equipment and time, improves the diversity of measurable environments, and enables students to master the experimental principle and be used by a real industry controller is needed to be invented.
Disclosure of Invention
Aiming at the problems in the background art, the invention provides a hardware-in-the-loop experimental teaching method based on Simulink and a low-code controller. A low code controller is a code-less control strategy implementation based on AOE event-driven techniques. Specifically, the low-code controller and the Simulink model are communicated with each other, so that a hardware-in-loop simulation experiment is realized, namely a real control scene and a controlled object are simulated by using the Simulink model, the simulation experiment can be closer to reality by using the low-code controller for control, meanwhile, a control strategy can be more conveniently, efficiently and comprehensively verified and tested, and the excellent experiment efficiency and teaching effect are shown.
A hardware-in-the-loop teaching experiment method based on Simulink and a low-code controller comprises the following steps:
1) and building a model required by an experiment, building a corresponding Simulink model according to the environmental condition and the control strategy required by the experiment, and using an S-function model in a Simulink library as a control module. And the S-function module is used for realizing the communication function of the Simulink model and the low-code controller in the follow-up process.
2) Configuring a file of a low code controller, which comprises the following specific steps:
201) and the measurement point file configuration of the low-code controller is used for configuring parameters of signal points which are input to the controller by the Simulink model and output to the Simulink model by the controller in an experiment. And configuring the serial number, the point number, the name, the alias, whether to disperse, whether to calculate the point, a default value and remarks of each measuring point according to the signal points of the actual experiment.
202) And configuring a communication channel file of the low-code controller, wherein the communication channel file is used for configuring the Simulink model and communication parameters of the low-code controller. The low code controller communicates with the Simulink through a Modbus protocol, and the Matlab only has the function of a Modbus client, so that the low code controller is configured as a Modbus server, and the Simulink model is used as the Modbus client. Configuring channel names, connection numbers, service ports, connection names, measuring point numbers, client IP, client ports, slave id, a communication protocol, a primary read register number upper limit, a primary read switch number upper limit, a primary write register number upper limit, a primary write switch number upper limit, timeout time (ms), channel state measuring point numbers, serial numbers, register types, initial addresses, data types, new request marks, polling periods and point numbers of Modbus communication according to actual experiment needs.
203) The AOE configuration of the low code controller is used for describing the control strategy of the low code controller, and has three parts. The method comprises the following steps that firstly, an AOE network declaration part defines the ID of the AOE network, whether a network mark is started or not, the name of the AOE network, the triggering condition parameter of the AOE network and the initial value of a variable according to the experimental control strategy; secondly, an AOE node declaration part is used for defining an AOE network ID, a node name, a node type, timeout time (ms) and an expression to which the node belongs according to a control strategy of an experiment; and thirdly, an AOE edge declaration part, wherein the AOE network ID to which the edge belongs, the head and tail nodes of the edge, the action name, the failure mode, the action type and the action parameter are defined according to the experimental control strategy.
3) And writing a communication program of Simulink and a low-code controller. Opening a source file of an S-function of the Simulink model established in the step 1), enabling an input signal of the S-function to be data required to be acquired by a low-code controller to realize control, enabling an output signal of the S-function to be a control signal acquired from the low-code controller, setting the quantity of input and output signals and sampling time (S) of the S-function according to the model and communication configuration conditions, and adding a Modbus communication establishing command according to the low-code controller ip and communication port parameters. Modbus communication command programs are added that write the input signals to the S-function to the low code controller and read the control signals from the low code controller.
4) Low code controller configuration and operation. Connecting a power line of the controller with a power supply, turning on a power switch, connecting the controller with a computer by using a network cable, obtaining a controller ip by using a discovery tool, entering a front-end interface of the controller after the computer discovers the controller, or directly entering the interface by inputting a controller address in a browser, clicking a controller id in the interface, entering a configuration interface of the controller, selecting and importing a measuring point, a channel and an AOE configuration file compiled by csv, and clicking a reset in the interface to store and configure and operate the controller.
5) Hardware-in-the-loop simulation experiments were run. And firstly operating the low-code controller and then operating the Simulink model to perform the hardware-in-the-loop simulation experiment.
In the above technical solution, further, the method for implementing the low code controller includes the following steps:
1) the control strategy is designed into an event-driven mode, and is particularly represented as that a control flow is formed by combining a series of events and actions according to a certain logical relationship, wherein the events are used for describing the state of a controlled object and can be used as conditions for executing the actions and can also be used as marks for finishing the execution of the actions; the action is used for expressing a specific instruction executed by the low-code controller, such as an instruction for assigning a variable and executing optimization calculation;
2) converting a control strategy designed by an event-driven mode into an AOE network mode, specifically representing that a node of the AOE network represents an event, a directed edge represents an action, an event node points to a completion event node from the beginning of the action, and the whole AOE network corresponds to a control flow; starting from the initial node, executing the action represented by the corresponding edge according to the rule defined by the node event, entering a completion event node pointed by the directed edge after the action is executed, then executing the rule defined by the node event, and executing the operation till the whole control is completed;
3) the communication with the controlled object is completed by setting a communication mode according to a communication protocol, so that the input of the controlled object information and the output of a control signal after the operation of a controller control strategy are realized, and the low-code controller supports Modbus, IEC104, mqtt communication protocols and serial communication protocols;
4) based on the AOE network of the control strategy described in 2) and the communication mode selected from 3), filling a configuration file in a form, uploading the configuration file to a control interface of the low-code controller, and completing the development of the low-code controller, wherein the specific expression is as follows:
401) compiling a measuring point configuration file for describing attributes required by measuring points;
402) compiling an AOE network configuration file for establishing an AOE network to realize a required control strategy;
403) and compiling a communication channel configuration file for describing a communication mode between the controller and the controlled object and giving register information and addresses for storing the point values according to the attributes of the measuring points in the measuring point configuration file.
The invention has the beneficial effects that:
the hardware-in-the-loop teaching experiment method based on the Simulink and the low-code controller develops a control strategy based on AOE event drive by using the low-code controller, builds a model of a controlled object and the environment where the controlled object is located in the Simulink, and utilizes an S-function module as a control link of the model: the simulation model is controlled by realizing communication between the Simulink model and the low-code controller in the S-function module through a Modbus communication protocol, acquiring data from the model as input of the low-code controller and outputting a control signal after the low-code controller operates a control strategy.
The method can enable the simulation experiment to be closer to the actual situation, enriches the environment conditions which can be tested by the controller, can carry out more convenient, efficient and comprehensive verification test on the control strategy, reduces the equipment and time cost of large-scale teaching experiments, enables students to complete the development and implementation of the control strategy without compiling debugging codes, is beneficial to the students to concentrate on the control principle, reduces the experiment pressure of the students, standardizes the experiment process and shows the high efficiency and excellent effect of novel experiment teaching.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, serve to provide a further understanding of the application and to enable other features, objects, and advantages of the application to be more apparent. The drawings and their description illustrate the embodiments of the invention and do not limit it. In the drawings of the specification:
FIG. 1 is a flow chart of the method of the present invention;
FIG. 2 is a control module replacement diagram of a Simulink-based room temperature control model;
FIG. 3 is a diagram of control logic AOE of an embodiment of a house temperature control strategy;
FIG. 4 is a low code controller configuration interface.
Detailed Description
In order to make the method better understood by those skilled in the art, the technical solutions in the present application will be clearly and completely described below with reference to the accompanying drawings. It is to be understood that the described embodiments are merely exemplary of some, and not all, of the present application. All other embodiments, which can be obtained by a person skilled in the art without making creative efforts based on the present embodiments, shall fall within the protection scope of the present application.
Taking the room temperature control strategy as an example, a simulation model for room temperature control is constructed in Simulink, and a command is input in an MATLAB command line window: openExample ('simulink _ general/slide _ house example'); the mold may be opened. The Thermostat in the model is a temperature control module, and the control logic is to send a signal for turning on the heater when the indoor temperature is lower than the set temperature by less than 5 degrees F; when the indoor temperature is higher than the set temperature by more than 5 degrees F, a signal for closing the heater is sent. As shown in fig. 2, the temperature control model in the original model is replaced by an S-function, a communication function with a low-code controller is realized in the S-function, indoor temperature and set temperature data are uploaded, and control signals are received.
And then writing a configuration file of the low-code controller. The low code controller file configuration is divided into three parts: a measurement point configuration, a communication channel configuration, and an AOE configuration. The measuring point configuration is used for configuring parameters of signal points input and output by the controller, the signals required in the case are heater start-stop control signals required by inputting set room temperature, measured temperature and output, the communication channel configuration is used for establishing Modbus communication between the controller and a Simulink simulation model to realize information interaction between the simulation model and the controller, and the AOE configuration is used for establishing an AOE model network to realize required control logic and functions.
The measurement point configuration is performed as shown in table 1, and in the case of the present embodiment, three measurement points are required, which are respectively a set temperature value, a measured temperature value, and a controller output to control the start and stop of the heater.
The communication channel configuration is as shown in table 2, and the low code controller communicates with Simulink via Modbus protocol. The low code controller is configured as a Modbus service end, wherein the number of channels is 1, and the service port needs to be set as an unoccupied port. And 3 measuring points are corresponding to the starting address point numbers of 3 registers by using the point numbers set by the 3 measuring points, the data type of the 2 temperature values is a floating point number of eight bytes, and the data type of the output control signal is an unsigned integer.
The configuration of the AOE file is performed as shown in table 3. The method comprises the steps of firstly, defining the number of AOE networks in a table, integral information and initial values of a plurality of variables. The controller of the program is used for realizing the control of the temperature in the house, so the name is house temperature control, and the triggering condition is event control (namely when an event that the temperature exceeds a threshold value occurs, the controller performs corresponding action). The variables updv and downDev represent the maximum value of the set temperature (the absolute value of the maximum difference between the measured temperature and the set temperature) exceeded upward and downward, respectively, to be 2.77778 degrees celsius (5 degrees fahrenheit). Then, an AOE node statement is made, and the control policy logic of this embodiment is as shown in fig. 3, four nodes that need to be defined corresponding to this graph are all event trigger conditions, which are respectively a temperature exceeding threshold event, a temperature exceeding lower threshold event, a temperature exceeding upper threshold event, and an end node, where the first three events specify a timeout time, an expression needs to be true within the timeout time to trigger, an operation and a comparison are performed according to the expression to control whether to trigger the event, and data used in the expression may be represented by a corresponding alias in a measurement point configuration. Finally, the AOE edge declaration is performed, four edge declarations are shared in the embodiment, two edges from the node 1 to the node 2 and the node 3 do not need to be judged, only an action entering the next node needs to be performed, the action type is None, and calculation is not needed. The operation of turning on and off the heater is required from the nodes 2 and 3 to the node 4, and the operation type is SetPoints, and when the output is 1, the heater is turned on, and when the output is 0, the heater is turned off.
After writing in the excel table, the table is saved as a csv format (table data is stored in a plain text form) file for a low code controller to use.
Next, a Simulink communication program is written. The source file of the S-function in the Simulink model is opened, the number of input signals of the S-function is set to be 2, the number of output signals of the S-function is set to be 1, sampling time is set to be 0.01 (the S-function is communicated with the controller once every 10ms of simulation). And adding a command for establishing Modbus communication, and setting corresponding service end ip and port parameters. Adding temperature set point, temperature measured value and reading control instruction program.
Then the power line of the controller is connected with the power supply, the power switch is turned on, and the controller is connected with the computer by the network cable, so that the computer can be used. And obtaining the controller ip, and obtaining a front-end interface of the controller when the controller is started and connected into the computer and is found by the computer, or obtaining the interface by opening a browser and inputting the address of the controller. And clicking the controller id in the interface, entering a controller configuration interface, selecting and importing the measuring point, channel and AOE configuration file compiled by the csv as shown in the figure 4, and clicking the reset in the interface to store the configuration and operate the controller.
And finally, operating the low-code controller firstly, operating the Simulink model, simulating to observe an experimental result, and performing subsequent experimental operations such as correction and analysis.
TABLE 1 survey point configuration files
| Serial number | Point number | Name (name) Balance | Clip for fixing Name (name) | Is that Whether or not Separation device Powder medicine | Is that Whether or not Meter Calculating out | Dot Meter Calculating out | Public Become Changeable pipe | Inverse direction Become | Changeable pipe Become Transforming | Judgment Zero | Public Sheet Bit | On the upper part Limit of Value of | Lower part Limit of Value of | Most preferably Big (a) Become Transforming | Most preferably Small Become Transforming | Is that Whether or not Fruit of Chinese wolfberry Time of flight | Dot Is that Whether or not SOE | Silent glass Am (A) to Value of | Remarks for |
| 1 | 1001 | |
Ts et _ PO IN T | FA LS E | FAL SE | 0 | 0 | 0 | 0 | FA LS E | FAL SE | 20 | Set temperature Value of | ||||||
| 2 | 1002 | Measuring Dot 2 | T_ PO IN T | FA LS E | FAL SE | 0 | 0 | 0 | 0 | FA LS E | FAL SE | 20 | Measuring temperature Value of | ||||||
| 3 | 1003 | Measuring Dot 3 | St at e_ PO IN T | TR UE | FAL SE | 0 | 0 | 0 | 0 | FA LS E | FAL SE | 0 | Under the controller Distant hair Control->Is provided with Fixed heater Status of state |
Table 2 communication channel profile
| Channel Name (R) | Server test Channel | Connection name | |
Sequence of steps Number (C) | Register with a plurality of registers Type (B) | Initiation of Address | Data type | New request Sign (sign) | Polling Period of time | Dot Number (C) |
| Connection of Number of | 1 | Number of measuring points | 3 | 1 | |
1 | EightByteFloa t | FALSE | 2000 | 10 01 |
| Service Port(s) | 502 | Client IP | 127.0. 0.1 | 2 | HOLDING | 5 | EightByteFloa t | FALSE | 2000 | 10 02 |
| Client port | 9999 | 3 | HOLDING | 9 | TwoByteIntUns igned | FALSE | 2000 | 10 03 | ||
| |
1 | |||||||||
| Communication protocol | XA | |||||||||
| Once read register Upper limit of number | 125 | |||||||||
| Reading the number of switches at one time Upper limit of | 2000 | |||||||||
| Write-once register Upper limit of number | 120 | |||||||||
| Number of one-time writing switches Upper limit of | 1968 | |||||||||
| Polling period (ms) | 5000 | |||||||||
| Time-out (ms) | 1000 | |||||||||
| Channel state measuring point Number (C) | 4999 |
TABLE 3AOE Profile
| AOE ID | Whether or not to Activation of | Name (R) | Trigger condition | Trigger condition Parameter(s) | Initial value of variable |
| 300 | TRUE | House temperature control | Event_ Drive | upDev:2.77778；downDev:2.77778 | |
| AOE ID | Variables of Definition of | ||||
| AOE ID | Node point ID | Name (R) | Node type | Time-out (ms) | Expression formula |
| 300 | 1 | Temperature out of threshold event | Conditio n | 10 | Tset_POINT-T_POINT>downDev||T_POINT- Tset_POINT>upDev |
| 300 | 2 | Temperature over lower threshold event | Conditio n | 10 | Tset_POINT-T_POINT>downDev |
| 300 | 3 | Event of temperature exceeding upper threshold | Conditio n | 10 | T_POINT-Tset_POINT>upDev |
| 300 | 4 | End node | Conditio n | 0 | 1 |
| AOE ID | Head and tail Node point | Action name | Failure mode | Type of action | Motion parameter |
| 300 | 1；2 | Entering the step of judging whether the temperature exceeds Node of threshold | Default | NONE | |
| 300 | 1；3 | Entering to judge whether the temperature exceeds the upper limit Node of threshold | Default | NONE | |
| 300 | 2；4 | Turn on the heater | Default | Set_ Points | State_POINT:1； |
| 300 | 3；4 | Turning off the heater | Default | Set_ Points | State_POINT:0； |
Claims (2)
1. A hardware-in-the-loop teaching experiment method based on Simulink and a low-code controller is characterized by comprising the following steps of:
1) building a model required by an experiment, building a corresponding Simulink model according to an environmental condition and a control strategy required by the experiment, and taking an S-function model in a Simulink library as a control module; the S-function model is used for realizing the communication function of the Simulink model and the low-code controller subsequently;
2) configuring a file of a low code controller, which comprises the following specific steps:
201) configuring a measuring point file of a low code controller, specifically: the method comprises the steps that parameters of signal points of a Simulink model in an experiment are configured, wherein the parameters of the signal points comprise serial numbers, point numbers, names, alias names, whether the signals are discrete, whether the signals are calculated, default values and remarks;
202) configuring a communication channel file of a low code controller, specifically: the low code controller is communicated with the Simulink through a Modbus protocol, the low code controller is configured to be a Modbus server side, and the Simulink model is used as a Modbus client side; configuring communication parameters of a Simulink model and a low code controller, wherein the communication parameters specifically comprise: the method comprises the following steps of channel name, connection number, service port, connection name, measuring point number, client IP, client port, slave, communication protocol, primary read register number upper limit, primary read switch number upper limit, primary write register number upper limit, primary write switch number upper limit, timeout time ms, channel state measuring point number, serial number, register type, initial address, data type, new request mark, polling period and point number;
203) configuring an AOE file of a low-code controller, wherein the AOE file is used for describing a control strategy of the low-code controller, and the AOE file comprises three parts: the method comprises the following steps that firstly, an AOE network declaration part defines the ID of the AOE network, whether a network mark is started or not, the name of the AOE network, the triggering condition parameter of the AOE network and the initial value of a variable according to the experimental control strategy; secondly, an AOE node declaration part is used for defining the AOE network ID, the node name, the node type, the timeout time ms and the expression of the node according to the control strategy of the experiment; thirdly, an AOE edge declaration part is used for defining the AOE network ID to which the edge belongs, the head and tail nodes of the edge, the action name, the failure mode, the action type and the action parameter according to the control strategy of the experiment;
3) compiling a communication program of the Simulink and the low-code controller; opening a source file of an S-function of the Simulink model established in the step 1), wherein an input signal of the S-function is data required to be acquired by a low-code controller for realizing control, an output signal of the S-function is a control signal acquired from the low-code controller, the quantity of input and output signals and sampling time S of the S-function are set according to the model and communication configuration conditions, and a command for establishing Modbus communication is added according to the parameters of an ip and a communication port of the low-code controller; adding a Modbus communication instruction program for writing an input signal of an S-function into a low code controller and reading a control signal from the low code controller;
4) low code controller configuration and operation; connecting a power line of the controller with a power supply, turning on a power switch, and then connecting the controller with a computer by using a network cable to obtain a controller ip; after finding the controller, the computer enters a front-end interface of the controller, or the computer can directly enter the interface by inputting a controller address in a browser, clicks a controller id in the interface, enters a controller configuration interface, selects a programmed measuring point, a communication channel and an AOE configuration file, clicks 'reset' in the interface to store configuration and operate the controller;
5) running a hardware-in-loop simulation experiment; and firstly operating the low-code controller and then operating the Simulink model to perform the hardware-in-the-loop simulation experiment.
2. The hardware-in-the-loop teaching experiment method based on Simulink and the low-code controller according to claim 1, wherein the implementation method of the low-code controller comprises the following steps:
1) the control strategy is designed to be an event-driven mode, and specifically comprises the following steps: the control flow is formed by combining a series of events and actions according to a certain logical relationship, wherein the events are used for describing the state of a controlled object, can be used as the condition for executing the actions and can also be used as the mark for finishing the execution of the actions; the actions are used for expressing specific instructions executed by the low-code controller, and comprise assigning values to variables and executing optimization calculation;
2) converting the control strategy of the step 1) into an AOE network form, which specifically comprises the following steps: the nodes of the AOE network represent events, the directed edges represent actions, event nodes point to finish the events from the starting event nodes of the actions, and the whole AOE network corresponds to a control flow; starting from the initial node, executing the action represented by the corresponding edge according to the rule defined by the node event, entering a completion event node pointed by the directed edge after the action is executed, then executing the rule defined by the node event, and executing the operation till the whole control is completed;
3) the communication with the controlled object is completed by setting a communication mode according to a communication protocol, so that the input of the controlled object information and the output of a control signal after the operation of a controller control strategy are realized, and the low-code controller supports Modbus, IEC104, mqtt communication protocols and serial communication protocols;
4) based on the AOE network in the step 2), selecting a communication mode from the step 3), filling a configuration file in a form, uploading the configuration file to a control interface of the low-code controller, and completing the development of the low-code controller, wherein the specific steps are as follows:
401) compiling a measuring point configuration file for describing attributes required by measuring points;
402) compiling an AOE network configuration file for establishing an AOE network to realize a required control strategy;
403) and compiling a communication channel configuration file for describing a communication mode between the controller and the controlled object and giving register information and addresses for storing the point values according to the attributes of the measuring points in the measuring point configuration file.
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| CN117518869B (en) * | 2023-11-14 | 2024-06-25 | 浙江华电器材检测研究院有限公司 | Power distribution network hardware-in-loop simulation method and related equipment |
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