JP2008090489A - Simulation system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a simulation system easily constructing or changing a model to be evaluated by managing control targets according to predetermined rules, even when a complex model to be evaluated is composed of a plurality control targets. <P>SOLUTION: A simulation device to compute a simulation model obtained by modeling an object includes a storage means for storing the simulation model and a model computing means 11 for computing the simulation model. When a plurality of simulation devices SM are connected together for simulation, the model computing means 11, if the duplicate simulation model computed by another simulation device SM is stored in the storage means, does not compute the duplicate simulation model. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a simulation system in which a plurality of simulators and a management device that manages each simulator are connected to a network, and a complex evaluation target model is generated by a model program that is distributed and executed by each simulator.

  In recent years, in order to reduce the time and cost required for product development and to improve the safety of product development, the actual software controlled for evaluation of embedded software developed in various fields. A simulation system is used in which the apparatus is simulated by a mathematical model program and calculated by a computer, and based on the result, characteristics can be confirmed and possible problems can be extracted.

  As such a simulation system, for example, in order to evaluate control software incorporated in an ECU (Electronic Control Unit) that electronically controls a vehicle, an ECU board comprising control system hardware in which an evaluation target program is incorporated, and an ECU A model program for simulating an engine system that is an example of a non-control system controlled by a board is incorporated, and a plurality of simulators configured by controlled system hardware controlled by the ECU board are connected to a management apparatus via a network. Connected distributed simulation systems have been proposed.

  In addition, control system software that simulates the ECU itself, which is control system hardware incorporating control software, a simulator composed of controlled system software that simulates the controlled system hardware itself, and the model program It has also been proposed to construct a simulation unit with a management device composed of a host computer that manages the setting and execution of input / output information and environmental conditions.

  The former simulator is generally referred to as HILS (Hardware In the Loop Simulation), and the latter simulator is generally referred to as SILS (Software In the Loop Simulation).

  As a publicly known technique related to the present invention, Patent Document 1 discloses a software and hardware simulation system that operates on the same OS, and Patent Document 2 discloses a personal computer program and simulator hardware on a CPU. A configuration connected on a computer simulator board is disclosed, and Patent Document 3 discloses a verification system for supporting the advance development of a microcomputer that can efficiently verify a program when a real device and a virtual device are used as peripheral devices. Has been.

JP 2002-175344 A JP 2001-331346 A JP 2003-316603 A Shuzo Tanaka et al. “Control Software Development by All-Soft Simulation” Fujitsu Ten Technical Report, June 2006, pp. 28-33

  When evaluating development software using the simulation system described above, multiple simulators transplanted with different model programs are connected in parallel, and parallel computation is performed at a set computation cycle. A distributed simulation system that realizes the model is constructed, and comprehensive evaluation is performed when the program to be evaluated is installed in the system.

  When simulating multiple simulators transplanted with different model programs connected in parallel, there is an overlapping module in the model program executed in each simulator, and if there is a difference in the calculation accuracy of each module, each simulator As a result of calculating based on its own module and advancing the calculation based on the result, there is a problem that the simulation accuracy is lowered.

  For example, in the case of a distributed simulation system that simulates the operation of a vehicle, a module that calculates the engine speed exists in each of a simulator that simulates an engine and a simulator that simulates a transmission. Even when the calculation accuracy of the module in the transmission-side simulator is lower than the accuracy, the calculation accuracy of the transmission-side simulator is low because the calculation on the transmission-side simulator is based on the calculation result of the low-accuracy module. When the calculation result of such a transmission-side simulator is reflected in the engine-side simulator, the calculation accuracy of the system is lowered.

  In addition, input / output parameters that define the interface between simulators are set in advance, but when they are connected to each other, the signal name, the connection destination, and the accuracy of the data are used to ensure data consistency. It is necessary to perform complicated processing for resetting and matching the input / output parameters.

  In view of the above-described problems, the object of the present invention is to perform a highly accurate simulation by matching input / output parameters with each other when a complex evaluation target model is constructed by connecting a plurality of simulators in parallel. It is to provide a simulation system that can be used.

  In order to achieve the above-described object, the characteristic configuration of the simulation system according to the present invention is a simulation apparatus that performs simulation by performing an operation of a simulation model obtained by modeling a simulation target, and a storage unit that stores the simulation model. A model calculation unit for calculating a simulation model stored in the storage unit, and when performing simulation by connecting a plurality of simulation devices, the model calculation unit is a simulation model in which another simulation device performs calculation. When the simulation model for the same part is stored in the storage means, the calculation of the simulation model for the overlapping part is not performed.

  According to the above configuration, when there are overlapping portions in a plurality of simulation devices, only the overlapping portion of the specific simulation device is executed, the execution of the overlapping portion of the simulation device other than the specific simulation device is prohibited, and the specific portion In a simulation apparatus other than the simulation apparatus, the calculation is executed based on the calculation result of the specific part of the specific simulation apparatus itself, so that the consistency of the calculation result of each simulation apparatus is maintained.

  According to the present invention, when a complex evaluation target model is constructed by connecting a plurality of simulators in parallel, a simulation system capable of performing a highly accurate simulation by matching input / output parameters with each other is provided. Can now.

  Hereinafter, a case where the present invention is applied to a simulation system that evaluates control software incorporated in an ECU that electronically controls a vehicle will be described as an example.

  As shown in FIG. 1, the simulation system includes a plurality of simulators SM as simulation apparatuses that execute a plurality of model programs MP, each of which is individually determined, that is, a calculation of a simulation model in which a simulation target is modeled. The simulator SM includes a management device (host computer) PC that manages and manages each of the simulators SM. The simulators SM and the management device PC are network-connected via a LAN.

  The simulation system is configured to generate a model model MP that is executed in a distributed manner by each simulator SM connected to the management apparatus PC, that is, a complex evaluation target model by each simulation model. The evaluation target model is a mechanism that constitutes an actual vehicle, and is a vehicle model that includes a plurality of mechanism models such as an engine model that simulates an engine, a brake, a transmission, and the like, a brake model, and a transmission model.

  Therefore, one simulation model constitutes at least one mechanism model, or a plurality of simulation models constitute one mechanism model. From the above, it goes without saying that one simulation model may constitute at least one evaluation object model.

  The management apparatus PC includes a database DB that manages and manages a plurality of model programs MP and environmental conditions.

  In the database DB, as shown in FIG. 2, a model program MP for simulating steering, mission, brake, engine, motor, etc., which is each functional block of the vehicle, is managed for each vehicle type and model, and for each vehicle type and model. It is managed together with attribute data that can specify a model program MP that can be mounted, and simulator information that can be ported to the model program MP.

  The management apparatus PC collectively sets environmental conditions A corresponding to the model programs MP executed by the connected simulators SM by an operator's setting operation, and is a simulation information management area partitioned into a database DB. An environmental condition setting means for storing in B is provided, and a browsing means for displaying the stored environmental conditions collectively on the display unit of the management apparatus PC is provided. In the environmental condition setting means, the input / output data relating to each other is also set between the simulators SM.

  The environmental condition A is input / output information with the management apparatus PC when the simulation is executed, that is, the data type, unit, accuracy, and data required for executing and evaluating the simulation with the management apparatus PC. Setting conditions that define array information, etc., GUI (Graphical User Interface) setting conditions for controlling simulation from the display unit of the management apparatus PC, and the like. GUI setting conditions set calculation conditions for the simulator SM In order to do this, it refers to the type of operation switch and meter MT displayed on the GUI, selection of the graphic model GM for displaying the control data obtained from the simulator SM on the GUI, and the like.

  For example, when the simulator SM simulates an engine, input data such as engine start key information, accelerator opening information, fuel information, engine speed, fuel injection amount, travel speed, exhaust gas monitor information, oil Output data types such as temperature information, unit, accuracy, data arrangement, etc. correspond to input / output information setting conditions, engine start switch, accelerator switch, shift switch, etc. correspond to operation switches, tachometer, speed A meter or the like corresponds to the meter MT, and a trend graph of the engine speed corresponds to the graphic model GM.

  The management apparatus PC controls the execution of each simulation by operating an operation switch displayed on the display unit based on the set environmental condition, and is input from the simulator SM based on the set environmental condition. Arithmetic control means for inputting control data and process data and displaying them on the meter MT and a graph is provided.

  Therefore, each simulator can be controlled by operating the operation switch displayed via the GUI of the management apparatus PC, and the result is displayed via the GUI of the management apparatus PC.

  The simulator SM connectable to the system includes an ECU (electronic control unit) as control system hardware in which an evaluation target program is incorporated, and controlled system hardware in which a model program MP is incorporated and controlled by the ECU. SILS in which hardware system for simulating engine and mission, or control system software for simulating ECU and controlled system software for simulating controlled system hardware are realized on one computer It consists of a system.

  In the HILS system, each simulator SM constituting the HILS is a mechanism model for simulating and simulating each mechanism model constituting the evaluation target model by executing a plurality of model programs MP on a plurality of boards provided in the HILS system. It is connected to ECU which is control system hardware for controlling the controlled system model.

  As an example, as shown in FIG. 3, the HILS system includes a ROM that stores control software that is actually mounted on the vehicle, a CPU that executes the software, a RAM that is used as a working area, an input / output circuit, and the like. An ECU configured as described above, an ECU connected via a harness H, a simulator SM in a narrow sense for simulating a control target such as an engine, and a management device PC for controlling the simulator SM. That is, the management apparatus PC is configured by superimposing different HILS systems from the connected simulators SM.

  In the SILS system, each simulator SM constituting the SILS simulates hardware itself composed of a plurality of boards provided in the simulator SM constituting the HILS system, and executes a plurality of model programs MP with the simulated hardware. Controlled system software for simulating a model, that is, simulating a hardware resource itself for executing a model program MP, and executing a plurality of model programs MP on the simulated hardware resource to simulate a controlled system model; Control system software for simulating EUC itself, which is control system hardware for controlling the controlled system model simulated by the controlled system software.

  As shown in FIG. 4, each simulator SM constituting the SILS includes a plurality of modules for executing control software on a CPU board 40 of one computer operating on a predetermined operating system (OS). A control system model 41, a controlled system model 42 having a plurality of pseudo-operation modules controlled by control software, a shared memory 43 for exchanging input / output data between the control system model 41 and the controlled system model 42, An event that occurs in association with the control system model 41 or the controlled system model 42 and activates the corresponding module of the control system model 41 or the controlled system model 42, and setting and managing the activation time of the event based on the system timer 44 System management means 4 for controlling execution of the control system model 41 or the controlled system model 42 It is configured to include a.

  In the following description, it is assumed that in the simulation system, all simulators SM connected to the management apparatus PC are configured by a HILS system.

  As shown in FIG. 5, each simulator SM is provided with a storage means (not shown) in which a model program MP is installed and stored as a simulation model, and the model program MP stored in the storage means is executed. A model calculation processing unit 11 as model calculation means for executing the model calculation, a transmission means (not shown) for transmitting parameters calculated by the calculation of the model calculation processing unit 11, an ECU and a harness An I / F unit 16 connected via H, an I / O unit 12 for converting a signal between a logic level and a physical level between the model arithmetic processing unit 11 and the I / F unit 16, and a simulator SM CPU board 10 on which an operating system for managing Is constructed are connected to. In the present embodiment, the storage means is provided in the model arithmetic processing unit 11, but the storage means is provided outside the model arithmetic processing unit 11, and is connected to other units or the CPU board 10 via the high-speed bus BUS. It may be configured to be connected.

  The CPU board 10 is connected to the management apparatus PC, manages the simulator SM in an integrated manner, transplants the simulation model MP sent from the management apparatus PC to the model arithmetic processing unit 11, and sets the necessary environmental condition A to the units 11, 12. , 16 is set.

  That is, as shown in FIG. 6, the simulation system according to the present invention is configured to generate a complicated evaluation target model by the model program MP that is executed in a distributed manner by each simulator SM connected to the management apparatus PC. Yes.

  In FIG. 6, four ECUs (2 to 5), which are examples of a control device to be evaluated, and four simulators (SM2 to SM5) controlled by each ECU are locally connected, and the simulator ( SM2 to SM5) and the management apparatus PC are connected by a LAN to constitute a simulation system.

  In addition, the simulation system according to the present invention includes each simulator SM to which the model program MP has been transplanted connected to each ECU (1 to 4), and includes data communication means for exchanging related data between the simulators SM. It is configured.

  The data communication means interconnects the simulators SM with the shared memory on the shared memory board 13 provided in the I / O unit 12 of each simulator SM, thereby ensuring the consistency of related data. The operation of the data communication means is realized by the CPU board 10 of each simulator SM controlling the shared memory board 13.

  The data communication means will be described in detail below. The shared memory board 13 provided in the I / O unit 12 of each simulator SM allows the shared data to be input / output via the communication means 6 with other simulators SM in order to exchange related data between the simulators SM. The simulator SM is configured to be communicable via the shared memory board 13. For example, a CAN bus, which is a network connecting ECUs, is configured to be able to send and receive data to and from an ECU connected to another simulator SM via a CAN board 17.

  In other words, the electrical signal output from the ECU is received by the I / F unit 16 and is processed by a vehicle model that operates on a high-performance CPU, and the processing result is converted again into an electrical signal by the I / F unit 16. It is configured as a real-time simulator that feeds back to the ECU.

  As shown in FIG. 7, the shared memory board 13 mounted on the I / O unit 12 of each simulator SM includes a shared memory 131 for exchanging related data necessary for calculation with other simulators SM, and a communication interface. The communication means 6 includes a star fabric, a high-speed LAN, or the like that realizes a communication speed of several tens of Gbps to several Gbps using an optical fiber that includes 132 and controls transfer of data stored in the shared memory 131 between the simulators SM. It is connected to the. Furthermore, any one of the shared memory boards 13 includes a communication control unit 133 that manages the communication interface 132.

  Each shared memory 131 includes a reception data area 81 for storing related data necessary for the model arithmetic processing unit 11 of each simulator SM and the connected ECU, and the model arithmetic processing unit 11 of other simulator SM and other simulator SM. The data is divided into a transmission data area 82 for storing related data necessary for the connected ECU and generated by the apparatus itself.

  Then, the related data stored in the transmission data area 82 of the other simulator SM is delivered to the reception data area 81 of the own apparatus via the communication interface 132 at a predetermined timing described later, and stored in the transmission data area 82 of the own apparatus. The related data is delivered to the reception data area 81 of another simulator. Here, the reception data area 81 is divided into different areas for each other simulator SM as a transmission source, and the transmission data area 82 is divided into different areas for every other simulator SM as a transmission destination.

  For example, between the simulators SM, control signals and data of the CAN bus of the ECU connected to the own device are stored in the transmission data area 82 via the CAN board 17 of the own device, and via the communication interface 132. After being transferred to the reception data area 81 of the other simulator SM, it is transmitted to the ECU via the CAN board 17 of the other simulator SM via the harness H of the ECU connected to the other simulator SM.

  Further, control signals and data of the CAN bus of the ECU connected to the other simulator SM are stored in the transmission data area 82 via the CAN board 17 of the other simulator, and received data of the own device via the communication interface 132. After being transferred to the area 81, it is transmitted to the ECU of the own device via the harness H of the ECU connected to the own device via the CAN board 17 of the own device. That is, the CAN bus is emulated by the CAN board 17, the shared memory board 13, and the communication interface 132.

  Similarly, related data to be shared between the model arithmetic processing unit 11 or the I / O unit 12 of each simulator SM is also stored in the transmission data area 82 and related data to be delivered to other simulators SM. The relevant data to be delivered from other simulators is taken into the reception data area 81 via the.

  Hereinafter, the simulation operation executed by each simulator SM will be described in detail. Each simulator SM has a predetermined period, for example, 1 msec. Control is performed so as to repeat a unit simulation operation composed of a set of a plurality of operation steps having different functions in a cycle.

  Each simulator SM starts the unit simulation calculation process of its own device based on the reference clock when the activation command is sent from the management apparatus PC, and the simulator SM The calculation timings are synchronized between the simulators before or after the start, and control is performed so that all simulators can execute unit simulation calculation processing in synchronization.

  As shown in FIG. 8, the unit simulation operation process stores data necessary for another simulator SM in the initial stage, that is, related data in the transmission data area 82 of the shared memory 131 and is necessary for the own apparatus from the other simulator SM. The first data sharing process is performed for fetching related data into the reception data area 81 of the shared memory 131 (SA1).

  Each simulator SM performs a device input process for fetching data from each ECU into the I / O unit 12 (SA2), and among the data fetched in step SA1, data necessary for model calculation of other simulators SM In other words, the related data is stored in the transmission data area 82 of the shared memory 131 and the related data necessary for the model calculation of the own apparatus among the data acquired by other simulators is acquired in the reception data area 81 of the shared memory 131. Two data sharing processing is performed (SA3), and after the sharing processing is completed, the model calculation unit 11 performs model calculation processing by fetching necessary data from the I / O unit 12 and the reception data area 81 and executing model calculation ( SA4).

  After completion of the model calculation, data necessary for other simulators among the calculation results, that is, related data is stored in the transmission data area 82 of the shared memory 131, and related data required by the own device among the calculation results by the other simulators The third data sharing process is performed to import the data into the reception data area 81 of the shared memory 131 (SA5).

  Then, a device output process for outputting the model calculation result to the I / O unit 12 is performed (SA6), and the model calculation post-process for outputting the result of the model calculation and the progress of the model calculation, such as completion or incomplete, to the management apparatus PC (SA7).

  After the device output processing, data to be sampled from the I / O unit 12 and output as related data to other simulators is stored in the transmission data area 82 of the shared memory 131 and sampled from the I / O unit 12 of other simulators. After performing the fourth data sharing process for fetching related data necessary for the own device into the reception data area 81 of the shared memory 131 (SA8), the necessary data set in advance is transferred to the I / O unit 12 and the reception data area 81. Is sampled and stored in the memory of the CPU board 10 and output to the management device PC (SA9), and the process returns to step SA1 in synchronization with the calculation cycle set after the end of each step (SA10).

  By using the data communication means as described above, when matching related data shared with other simulators SM, they are shared after being synchronized with each other.

  By the way, when a simulation is performed by connecting a plurality of simulators SM in the simulation system, the model arithmetic processing unit 11 of the predetermined simulator SM has the model program MP for the same part (that is, the same module) as the other simulators SM. When stored in the storage means, any one of the first to fourth processes described later is executed.

  As shown in FIG. 9, the module MD is a process indicated by an alphabet such as process A and the like, and represents each process content in the model program MP. This represents logic processing such as value assignment, branching, and repetition, input / output processing with the outside, arithmetic processing such as integer arithmetic and floating point arithmetic, and other processing.

  In FIG. 9, among the various modules MD executed in each simulator SM, modules MD executed in duplicate in the simulator SM constituting the simulation system, such as process A and process E in the figure, are shown. In some cases, the module MD is executed as a module MD common to all the simulators SM based on predetermined parameters.

  In the case of FIG. 9, the process A is executed only by the process A of any one of the simulators SM2, SM3, SM4, and SM5, and the process A of the other simulator SM is executed by any one of the simulators SM. The process A is executed using the data of the process A. Similarly, the process E is executed only by the process E of the simulator SM2 (SM3) of either the simulator SM2 or SM3, and the process E of the other simulator SM3 (SM2) is executed by one simulator SM2 (SM3). The process E is executed using the data of the process E to be performed.

  In the simulation system, as the predetermined parameter, an input / output parameter that defines an interface between the model program MP executed in each simulator SM and the model program MP executed in another simulator SM is set and set. Whether or not each module MD can be executed is set based on the input / output parameters. That is, when the module MD is duplicated in a plurality of simulators SM, the input / output parameters are referred to in determining which simulator SM the module MD is to be executed.

  The input / output parameters include an input / output signal name, a signal range, a signal unit, and a signal connection destination, and are set so that the input / output parameters are matched between simulators SM.

  More specifically, as shown in FIG. 10, the input / output parameters include, for each module MD in the model program MP, each “module name” including the name of the module MD and data input / output by execution of the module MD. The “input / output signal name” parameter including the type and name of the data, the “signal range” parameter including the accuracy and strength of the data input / output by execution of the module MD, and the data input / output by execution of the module MD A “signal unit” parameter including a unit and a “signal connection destination” parameter including a connection destination of data input and output by execution of the module MD are provided. Hereinafter, each parameter will be described with reference to FIG.

  The “module name” parameter is a name (see FIG. 10) assigned to distinguish between the type of component that inputs and outputs signals (“Sensor” in FIG. 10) and the component corresponding to the type of component. 10 is classified into two types, “A”). The type of component or the like is not limited to the component, and may be a type of processing (for example, engine speed calculation processing).

  The “input / output signal name” parameter is classified into three types in which designation of whether the signal is input (in) or output (out) (“in” in FIG. 10) is added to the “module name” parameter.

  The “signal range” parameter is composed of two values, a minimum value and a maximum value, for each input / output signal.

  The “signal unit” parameter is the name of the unit of the input / output signal, and is “Volt” indicating the unit of voltage in FIG.

  “Signal connection destination” is composed of the input / output signal name of the transmission source (transmission destination) of the input signal (output signal) of the input / output signal. In other words, in “Sensor-A-out (input / output signal name)” in FIG. 10, the output signal of “Sensor” (type of component or the like) of name “A” is input to “Sensor” of name “A”. in ".

  Note that the predetermined parameters described above include parameters whose contents change (for example, the signal connection destination changes) depending on the simulation model calculation, and parameters whose contents do not change regardless of the calculation.

  Hereinafter, the first to fourth processes described above will be described. As a first process, the predetermined simulator SM does not perform a simulation model calculation for the overlapping module MD. More specifically, a predetermined simulator SM does not perform calculations, and other simulators SM perform calculations. That is, when the modules MD are duplicated in a plurality of simulators SM, only one simulator SM performs the calculation of the duplicated module MD.

  As the second processing, the same type of parameters obtained by the model calculation for the overlapping module MD are not transmitted to other simulators SM, control targets, or the like.

  More specifically, each simulator SM performs the calculation of the overlapping module MD, but only one simulator SM transmits parameters by the transmission means, and the other simulators SM do not transmit parameters. That is, the parameters of the one simulator SM are used by all other simulators SM.

  As a third process, referring to a parameter obtained by its own model calculation or a parameter transmitted from the outside, only one parameter is used for the simulation when there is a parameter of the same type.

  More specifically, the own simulator SM has a plurality of parameters of the same type of parameters transmitted from another simulator SM that has executed the duplicate module MD and parameters calculated by executing the duplicate module MD in the simulator SM. Is stored, and the next time the process using the parameter is executed, one of the stored same type of parameters is selected and used. Then, the execution of the module MD is performed based on the selected parameter. Therefore, for example, when the same type of parameters with different signal connection destinations are stored in the same simulator SM, the signal connection destinations differ depending on the parameters used.

  As a fourth process, when one parameter is selected from the duplicated parameters in the third process, the simulation model with the highest simulation accuracy or the parameter calculated by the simulation model is used.

  That is, when the accuracy of the simulation model simulated by the simulator SM is worse than the simulation model simulated by another simulator SM, the parameters obtained by the simulation model of the simulator SM are not used. A parameter obtained by a simulation model of another simulator SM having higher accuracy is used.

  When any one module MD is executed for the overlapping module MD, the data and parameters generated by the one module MD are stored in the shared memory 131 of the simulator SM in which the one module MD is executed. The stored data and parameters are taken into the shared memory 131 of another simulator SM at a predetermined timing. The other simulators SM use the data and parameters when executing the same module MD as the module MD or when executing another module MD that uses the data.

  According to the above-described configuration, data consistency between the simulators SM can be obtained by determining a specific module MD to be executed and a specific parameter to be used from duplicated modules MD and parameters.

  Further, the input / output signal name, signal range, signal unit, and signal connection destination are indispensable elements for specifying the input / output signal, and thus are suitable application examples as the parameters.

  Hereinafter, generation of a drive model of an electric vehicle as an example of a complicated evaluation target model by transplanting a predetermined model program MP to each simulator SM will be described with reference to FIG.

  The drive model of the electric motor is at least a battery model as a first simulation device including a calculation unit (not shown) that simulates the state of a high voltage battery (battery) that supplies power to the motor or is charged from the motor, A motor inverter model as a second simulation device having a calculation unit that simulates the state of the inverter that drives the motor by power supply from the battery and a calculation unit that simulates the state of the motor is generated separately, and each model program MP is different It is configured to be executed by the simulator SM.

  Note that the number of the above-mentioned simulation device is changed depending on the number of configured simulation devices. For example, in the simulation system of FIG. 6, as the first simulation device including a calculation unit that simulates the state of the engine. An engine model, a battery model as a second simulation device including a calculation unit that simulates the state of the battery, a calculation unit that simulates the state of the motor, and a calculation unit that simulates the state of the inverter that drives the motor The motor inverter model as a third simulation device provided is divided and generated.

  The battery model is a model program MP2 for simulating a battery and is ported to the simulator SM2. The simulator SM2 is locally connected to a battery control ECU 2 that controls the battery. The battery control ECU 2 is configured to perform hybrid control as control for distributing the travel / brake control amount to engine control, motor control, and brake control in accordance with the vehicle state and user request in addition to the control of the battery. ing.

  In addition, the battery model is configured as a set of a plurality of component models that simulate each mechanism constituting the battery. For example, the battery model is a charge model at the time of regenerative braking of the motor, a discharge model at the time of driving the motor, and It consists of a part model that simulates a warning transmission operation to the driver before waking up. Further, the battery model is configured to simulate the distribution state of each control by the hybrid control in addition to the simulation of the battery state.

  The motor inverter model is a model program MP31 for simulating an electric motor and a model program MP32 for simulating an inverter circuit for driving the electric motor, and is ported to the simulator SM3. The simulator SM3 is locally connected to a motor control ECU 3 that controls motor drive and power generation. In FIG. 6, the model program MP31 and the model program 32 are ported to the same simulator SM3. However, the model programs MP31 and MP32 are ported to different simulators SM and each is a single arithmetic unit. It may be configured as.

  In addition, a part model that simulates detection of the magnetic pole position of the electric motor, a resolver model that simulates correction operation of the detection error of the magnetic pole position, and the like are transplanted in the simulator SM3.

  The engine model is a model program MP4 for simulating the engine and is ported to the simulator SM4. The simulator SM4 is locally connected to an engine control ECU 4 that controls the engine.

  Further, the engine model is configured as a set of a plurality of component models that simulate the mechanisms constituting the engine, and includes, for example, a component model that simulates an intake system mechanism, a component model that simulates an internal combustion mechanism, and the like. Has been.

  The brake model is a model program MP5 for simulating a brake and is ported to the simulator SM5. The simulator SM5 is locally connected to a brake control ECU 5 that controls the brake.

  In addition, the brake model is configured as a set of a plurality of component models that simulate the mechanisms constituting the brake. For example, a component model that simulates ABS (Antilock Brake System) and a brake pedal depression amount control are simulated. It consists of a part model and so on.

  When the simulation system is constructed by connecting the management apparatus PC and each simulator SM via a LAN, different evaluation target models are created based on the types of the various model programs MP to be ported to the simulator SM. At this time, each simulator is applied by applying the processing to the overlapping module MD as described above and the input / output parameters set in performing such processing. Various evaluation target models can be generated while maintaining the consistency of data between SMs.

  In other words, since the consistency of data is obtained between the simulators SM, the operator operates the management apparatus PC, and the evaluation target to be constructed in each of at least one simulator SM connected to the management apparatus PC. By porting each model program MP that matches the model, it is possible to generate various models to be evaluated, and the interface associated with the change of a certain simulator SM, as in the case of bringing a simulator SM built independently, respectively. Redesign is not necessary.

  For example, as shown in FIG. 6, the simulation system is configured to include a battery model, a motor inverter model, an engine model, and a brake model, so that any drive selected by switching between the engine and the electric motor is selected. A drive model of a hybrid vehicle that operates the vehicle is generated by the system.

  Further, by removing the engine model from the model shown in FIG. 6 from the simulation system and having a battery model, a motor inverter model, and a brake model, an electric vehicle drive model for operating the vehicle by an electric motor is provided. Generated.

  Furthermore, by setting the simulation system to include an engine model and a brake model, a drive model for an automobile including an internal combustion engine that operates the vehicle by the engine is generated.

  According to the above-described configuration, when building and processing a simulation system for a hybrid vehicle, an electric vehicle, and an automobile equipped with an internal combustion engine, each automobile is simply combined with a model divided for each element characterizing each automobile. Since the drive model can be reproduced, the simulation system can be constructed efficiently, and the simulation in each constructed automobile simulation system can be processed efficiently.

  In the above-described embodiment, the example in which the simulation system according to the present invention is constructed as a simulation system for evaluating control software incorporated in an ECU that electronically controls a vehicle has been described. However, the application target of the present invention is such a simulation system. The present invention is not limited to this, and can be applied to the evaluation of control systems for various electronic devices and control systems for plants such as chemical plants.

  The embodiment described above describes an example for realizing the present invention, and the specific configuration of each part should be appropriately changed and designed according to the system to be constructed as long as the effects of the present invention are achieved. Is possible.

Explanatory drawing of the simulation system by this invention Illustration of the database managed by the management device Conceptual diagram of HILS system Conceptual diagram of SILS system HILS system configuration diagram Block diagram of a simulation system according to the present invention Illustration of shared memory Flow chart used for explanation of unit simulation processing Illustration of module in model program Illustration of input / output parameters

Explanation of symbols

10: CPU board 11: Model arithmetic processing unit 12: I / O unit 13: Shared memory board 131: Shared memory 132: Communication interface 16: I / F unit DB: Database MD: Module MP: Model program PC: Management device SM : Simulator GUI: Graphical user interface

Claims (5)

A simulation device that performs a simulation by calculating a simulation model obtained by modeling a simulation target,
A storage unit that stores the simulation model; and a model calculation unit that calculates a simulation model stored in the storage unit. When performing simulation by connecting a plurality of simulation apparatuses, the model calculation unit includes: When the simulation model about the same site | part as the simulation model which this simulation apparatus calculates is memorize | stored in the said memory | storage means, the simulation model about the site | part which overlaps is not performed.   The model calculation means does not calculate a simulation model when the simulation model for the overlapping portion stored in the storage means is worse in simulation accuracy than a simulation model for calculation performed by another simulation apparatus. The simulation apparatus according to claim 1. A simulation device that performs a simulation by calculating a simulation model obtained by modeling a simulation target,
A model calculating means for calculating the simulation model; and a transmitting means for transmitting the parameter calculated by the calculation of the model calculating means to the outside. The simulation apparatus is characterized in that, when the same parameter as the parameter calculated by the calculation of the simulation model in another simulation apparatus is calculated by the calculation of the calculation means, duplicate parameters are not transmitted. A simulation system for simulating an electric vehicle by connecting a plurality of simulation devices in communication,
A first simulation device including a calculation unit that simulates a battery state; a second simulation device including a calculation unit that simulates a motor state; and a calculation unit that simulates a state of an inverter that drives the motor. A simulation system comprising: A simulation system for simulating a hybrid vehicle by connecting a plurality of simulation devices in communication,
A first simulation device having a calculation unit for simulating the state of the engine, a second simulation device having a calculation unit for simulating the state of the battery, a calculation unit for simulating the state of the motor, and an inverter for driving the motor A simulation system comprising: a third simulation device including a calculation unit that simulates the state of the above.