CN101364086A - Real-time emulation control method based on triggering-delay - Google Patents
Real-time emulation control method based on triggering-delay Download PDFInfo
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Abstract
The invention relates to a trigger-delay based real-time simulation control method which belongs to the technical field of industrial control. The method comprises the following steps: establishing a real-time simulation control platform, establishing a controlled object model in a trigger mode by adopting the Simulink technique, generating an executable program of the controlled object model by adopting the Real Time Workshop technique, and downloading the executable program in a target machine with a real-time working core. In the control method, a two-way circulating trigger signal with a rising edge and a falling edge is designed, the control signal and the trigger signal are transmitted to the controlled object model on the target machine via an analog output interface, and then the output of an error between the controlled object model and a reference signal is collected by the delay mechanism. The error signal serves as the next input signal for the control method to enable the synchronous operation of the controlled object model and the control method. The trigger-delay-based real-time simulation control method can verify the reliability of the control method and the hardware performance of the board, and can reduce the consumption of the digital-to-analog/analog-to-digital conversion card and reduce the test cost.
Description
Technical field
What the present invention relates to is the control method in a kind of industrial control technology field, specifically is a kind of real-time emulation control method based on triggering-time-delay.
Background technology
In industrial closed-loop control system design process, the design of controlled device needs suitable time and cost with processing usually, has influence on the development progress of closed-loop control system; When controller method is inaccurate, the controlled device of reality is added closed-loop control system design, may cause controlled device to be damaged, not only cause experimental cost to increase, and influence development process.May be subjected to the experiment condition restriction in addition, the working environment of some controlled devices is difficult in experimentation and realizes, causes the interaction of controlled device and environment can not obtain embodying, and the controller of design lacks reliability on this basis.Send out efficient and reduce R﹠D costs in order to improve design, in the closed-loop control system design process, adopt modeling method to describe actual controlled device usually, and, realize the optimal control of plant model by simulation optimization instrument design control corresponding method.Yet some simulation studies are non real-times, be that the closed-loop control system design is carried out under simulated environment fully, do not embody the real time execution mechanism of plant model under the control method effect, and control the gordian technique of actual closed-loop control system just in real time, it and system hardware have very big relation.Therefore the nonreal time simulation design still has a certain distance with the real-time control of actual controlled device.The problem that exists in the nonreal time simulation design, and consider the versatility that control method is disposed, adopting the semi-physical simulation thinking plant model and control method model to be deployed in respectively on ordinary PC and the common control development board on the non real-time closed-loop control emulation basis, and making that by triggering-time-delay mechanism controlled device and control method can synchronous operations.Adopt this method not only can improve the reliability of control method design, and can directly design the control development board, thereby really reduce R﹠D costs and shorten the design cycle.
Find through literature search prior art, Tao Jianfeng etc. are in " Shanghai Communications University's journal " " semi-physical simulation method of turntable controller real-time performance " (the 40th 11 phases of volume of November in 2006), adopt virtual turntable notion to set up actual mount model, and utilize real-time code Core Generator that mount model and controller model generation executable program are downloaded to industrial computer and ordinary PC respectively.Be connected the two with five interface cards on industrial computer and the PC, and the real time operating system that the real-time kernel instrument generates is installed.Carry out control method program and controlled device program respectively at PC and industrial computer then, realize mount model is controlled by the controlling mechanism of shaking hands.Because real-time system is to rely on the real-time kernel instrument to generate automatically, and is more suitable for the control industrial computer of mentioning in the literary composition, can verify the real-time simulation control performance of closed-loop system.But it is compatible that this real-time system lacks at hardware aspect, can not go up and use at many control development boards (the especially control development board of developer's design), thereby also just can't be used for verifying the performance (as dominant frequency, D/A switching rate and sampling period relation) of this class control development board; The code that neither simplify by the control executable program of real-time code Core Generator generation is uneconomical to the control development board of limited storage space in addition.What is more important, owing to need five interface circuits to connect PC and industrial computer in the real-time simulation process of mentioning in the literary composition, cause experimental cost to increase, and because analog input/output circuit exists transfer delay and error, can in close loop control circuit, introduce extra error, thereby change the control performance of closed-loop system.
Summary of the invention
The present invention is directed to the problem that prior art exists, a kind of real-time emulation control method based on triggering-time-delay is proposed, general control development board (comprising the development board that the developer designs) is applied in the real-time simulation control, this not only can improve the reliability of control method design, and can provide reference for the control development board further improves, have more practical significance, this helps saving R﹠D costs and reduces the design cycle in the closed-loop control system design process.
The present invention is achieved by the following technical solutions, the present invention takes the deployment way that distributes, plant model under the trigger mode (comprising the working environment Disturbance Model) is deployed on the target machine, will be deployed on the common control development board based on the control method of triggering-time-delay mechanism.Realize the signal transmission by less analog input output interface circuit.In order to ensure the plant model and the control method synchronous operation that are deployed on the distinct device, a trigger pip control of design plant model is carried out in control method, simultaneously according to the time of carrying out a plant model consumption on the target machine, in control method, determine a time-delay mechanism, guarantee to control the output that development board can correctly be gathered plant model under the current control signal, this signal is as the input signal of control method next time then, and plant model can correct execution under the control method effect like this.Because this Simulation Control process has comprised analog input/output circuit, physical signalling transmits under actual clock control, has realized the real time execution of plant model and control method.
The inventive method may further comprise the steps:
The first step connects main frame-target machine, main frame-control development board, target machine-control development board, and makes up software runtime environment, thereby sets up real-time simulation control platform.
In second step, adopting Simulink (the modularization simulation modeling platform of Mai Si Volco Inc exploitation) to set up plant model under the trigger mode on the main frame.This model can be controlled platform by real-time simulation and download on the target machine.
In the 3rd step, design is based on the control method of triggering-time-delay mechanism under host C CS (Code Composer Studio) environment.This method can be controlled platform by real-time simulation and download to the control development board.
In the 4th step, on real-time simulation control platform, adopt and trigger time-delay mechanism and realize on the target machine real-time synchronous operation based on control method on the plant model of trigger mode and the control development board.
Described connection main frame and target machine are meant: by router and RJ45 netting twine main frame and target machine are coupled together in LAN (Local Area Network) based on ICP/IP protocol, realize the communication between the two.Plant model on the main frame (comprising the working environment Disturbance Model) code can download to target machine like this, and the test data of target machine can upload to main frame.
Described connection main frame and control development board are meant: for the code that host C CS environment is developed down downloads to the control development board, adopt emulator that the USB interface of main frame and the JTAG mouth of control development board are coupled together.Can be directly downloaded to after code is finished like this in the storer of control development board.
Described linking objective machine and control development board, be meant: for target machine and external control development board are coupled together, target machine need be installed analog-to-digital conversion card and digital-to-analog conversion card.Interface shape according to transition card is installed to transition card on the target machine.For example transition card is a pci interface, then transition card is inserted the PCI slot of target machine.Receive the output signal of analog-digital chip (D/A) on the control development board by the former, by the modulus conversion chip (A/D) of latter's output model signal to the control development board.
Described structure software runtime environment is specially:
1. install software: the Matlab simulation software is installed on main frame, is comprised Simulink (exploitation of Mai Si Volco Inc based on modular simulation modeling tool case), Simulink Response Optimization (the control response optimization toolbox of Mai Si Volco Inc exploitation), Real Time Workshop (the code Core Generator case of Mai Si Volco Inc exploitation) and xPCTarget (the real-time simulation tool box of Mai Si Volco Inc exploitation); The CCS development environment is installed then, is used for the control method exploitation.
2. real-time kernel is installed: on main frame, utilize the xPCTarget tool box to generate a small-sized real time operating system.Need to be provided with target machine Starting mode, target machine and main-machine communication mode etc. before generating, then this system is installed on the target machine.
The described plant model of setting up under the trigger mode, step is as follows:
1. set up the nonreal time simulation model of closed-loop control system
Under Simulink, set up the closed-loop control system model.This model comprises plant model (working environment model), control module, derived reference signal, display module etc.Utilize the parameter in the Simulink Response Optimization tool box design control module, so not only save design time, and the output response of closed-loop control system is met the demands.
2. design plant model based on trigger mode:
For the plant model on the target machine is carried out, need carry out following processing to plant model under trigger mode.At first set up a subsystem, and plant model and its working environment model are placed in the subsystem module based on trigger mode.Set up analog input and simulation output interface module in the subsystem outside, analog-to-digital conversion card and the digital-to-analog conversion card on the controlled target machine realized carrying out the signal transmission between plant model and the control method respectively.Usually provide multiple transition card interface module in the I/O storehouse in xPCTarget tool box, if there is not the corresponding interface module, the user can simply revise with reference to other transition card interface modules, sets up the interface module that needs.
Described design is based on the control method of triggering-time-delay mechanism, and step is as follows:
At first utilize the control module that designs in the nonreal time simulation process, set up the governing equation of the difference of plant model output and reference signal, in method, design a trigger pip then, plant model based on trigger mode can be carried out, and, time delay interval is set in method according to the time that target machine is carried out plant model consumption.Control method starts modulus conversion chip (A/D) after time-delay, gathers the error signal that plant model sends by the digital-to-analog conversion card.Carry out the error control equation at last, and control signal is sent to plant model by analog-digital chip (D/A) and analog-to-digital conversion card.
The real-time synchronous operation of described plant model and control method, step is as follows:
1. dispose the executable program of plant model and the executable program of control method
At first on main frame, utilize Real Time Workshop tool box plant model to be compiled and generates executable program, executable program is downloaded to target machine by netting twine from main frame.The user defines working time, sampling period etc. according to demand.Way of compiling control method under the CCS environment generates executable file, by emulator control method is downloaded on the control development board.
2. the real-time synchronous operation of plant model and control method
Determine the original execution order of plant model and control method.According to the actual control system working condition, controlled device should be carried out earlier, and the difference of its output signal and reference signal is as the input signal of control method.Therefore start the executable program that target machine is carried out controlled device earlier.Because model is based on trigger mode, need a trigger pip to carry out.Therefore next step should carry out the control method executable program of controlling on the development board after starting target machine, should produce a trigger pip earlier in its initialization procedure, triggers controlled device by analog-digital chip (D/A) and analog-to-digital conversion card transmission and is performed.Carry out the time delay process in the control method master routine then, in master routine, start modulus conversion chip (A/D) at last and gather the error signal that the executable program of plant model on the target machine sends by the digital-to-analog conversion card.
3. test data collection
In the simulation process, the data information memory that the executable program of controlled device produces on the target machine is in the internal memory of target machine, and emulation must upload on the main frame after finishing.The metadata acquisition tool that can utilize the xPCTarget tool box to provide upload the data to main frame.
The control method that the present invention mentions is the design of working control device in the control field.This method adopts triggering time-delay mechanism to realize plant model and the real-time synchronous operation of controlling control method on the development board on the target machine.Kernel and the incompatible situation of general control development board of using the present invention can avoid the real-time kernel Core Generator to produce, has good versatility, even control method directly can be deployed on the control development board of developer's design, this can the authentication control method reliability, can verify the hardware performance of this plate in real-time simulation again, improve development efficiency.With respect to document 3, the present invention only adopts two moduluses/digital-to-analog conversion card just to realize target machine and control development board interface, has saved experimental cost greatly.Realize synchro control owing to adopt simulating signal to trigger in addition, do not need digital signal interface, reduced hardware requirement, further provide cost savings.
Description of drawings
Fig. 1 is based on the real-time simulation control hardware development platform that triggers time-delay in the embodiment of the invention.
Fig. 2 is the nonreal time simulation Simulink model of closed-loop control system in the embodiment of the invention.
Fig. 3 is the nonreal time simulation result in the embodiment of the invention;
Wherein: (a) being the unit-step response (not adding controller) of second order overdamping controlled device, (b) is the unit-step response (increase controller) of second order overdamping controlled device.
Fig. 4 is a controlled device Simulink model under the trigger mode in the embodiment of the invention.
Fig. 5 is based on the control development board and the target machine connection layout of trigger mode in the embodiment of the invention.
Fig. 6 is the real-time output synoptic diagram of closed-loop control system in the embodiment of the invention.
Fig. 7 is the trigger pip synoptic diagram that control method produces in the embodiment of the invention.
Embodiment
Set forth the good real-time simulation control effect embodiment that shows below in conjunction with accompanying drawing.The present invention is not only limited to following embodiment, present embodiment is implemented not departing from essence spirit of the present invention and do not exceed under the prerequisite of the related scope of flesh and blood of the present invention, provide real-time emulation control method based on triggering-time-delay, be applicable to the real-time simulation platform that various control development boards (comprising the development board that the developer designs) and ordinary PC constitute, can be widely used in the real-time simulation control procedure in the industries such as Aero-Space, automobile, machinery.
Embodiment: at the logical PC of control development board TMS320LF2407, two Daeporis of TI (Texas Instrument) company that often adopts in the real-time simulation control system and digital-to-analog conversion card PCI1720U and the analog-to-digital conversion card PCI1710HG of Advantech (grinding Hua company), employing is introduced concrete implementation step based on the real-time emulation control method of triggering-time-delay.
1.. set up the hardware development platform
Connect main frame and target machine: dispose two ordinary PC that floppy disk is housed.One as main frame, and another is as target machine.Based on ICP/IP protocol, in LAN (Local Area Network), target machine and main frame are connected respectively on the router by the RJ45 netting twine, realize the communication between the two.
Connect main frame and control development board:, adopt emulator that the USB interface of main frame is coupled together with the JTAG mouth of controlling development board for the code that host C CS environment is developed down downloads to the control development board.Can be directly downloaded to after code is finished like this in the storer of control development board.
Linking objective machine and control development board: for target machine and external control development board TMS320LF2407 are coupled together, target machine need be installed digital-to-analog conversion card PCI1720U and the PCI analog-to-digital conversion card PCI1710HG based on pci bus among the embodiment.Can directly they be inserted on two PCI slots of target machine, then adopt cable separately that transition card and terminal block are separately coupled together.Receive the simulating signal of control development board by the former, arrive the control development board by latter's output model signal.Complete real-time simulation control hardware development platform as shown in Figure 1.
2.. make up software runtime environment
Install software: software Matlab is installed on main frame, comprises Simulink tool box, SimulinkResponse Optimization tool box, Real Time Workshop tool box and xPCTarget tool box; The CCS development environment is installed then, is used for the control method exploitation.
Real-time kernel is installed: dispose two ordinary PC that floppy disk is housed.One as main frame, and Matlab is installed; Another installs The Realtime Operating System Nucleus as target machine.On main frame Matlab software platform, utilize the xPCTarget tool box to generate a small-sized The Realtime Operating System Nucleus, floppy disk Starting mode, configuration target machine IP address 191.168.0.1, subnet mask 255.255.0.0, gateway 255.255.255.255 and port numbers 22222 etc. are set in system, then it are downloaded on the floppy disk.Then floppy disk is inserted target machine, the target machine Starting mode is set for to start from floppy disk.Open the target machine power supply and read real-time kernel from floppy disk automatically, and be installed on the target machine.
3.. set up the nonreal time simulation model of closed-loop control system
Adopt Simulink to set up a nonreal time simulation model, as shown in Figure 2.Model comprises a unit step reference signal, control module, plant model and corresponding DATA REASONING unit.Do not influencing under the situation that embodiment says something, plant model is an overdamped second-order system, suc as formula 1.Its step signal output is shown in Fig. 3 (a).
From Fig. 3 (a) as can be seen controlled device be output as half of reference signal, have tangible tracking error.Therefore utilize controlling models of Simulink Response Optimization tool box design, its parameters optimization is suc as formula (2).By close loop negative feedback controlled device output is met the demands, shown in Fig. 3 (b).
4.. design plant model based on trigger mode:
Remove control module in the 3. middle nonreal time simulation model of step, utilize subsystem of Simulink design then based on trigger mode, plant model is placed in the subsystem module, it is that rising edge or negative edge trigger that the subsystem trigger mode is set then, be signal from negative value (comprising zero) become on the occasion of or from becoming negative value on the occasion of (comprising zero), subsystem is triggered and carries out inner plant model.Set up the input and output interface module of PCI1710HG and PCI`1720U in addition in the subsystem outside, 1710HG analog-to-digital conversion card and PCI1720U digital-to-analog conversion card on the difference controlled target machine, like this, realize being connected of simulation input and output interfaces of subsystem input/output signal and external control development board.Because the interface module of PCI1720U and PCI1710HG is not provided in the I/O storehouse of xPCTarget, therefore, make amendment in conjunction with the instructions of these two integrated circuit boards and with reference to other interface modules under the xPCTarget, set up the interface module that needs.
Fig. 4 is based on the plant model of trigger mode.Need to prove because the error of model output and reference signal may change between positive negative value, and modulus conversion chip (A/D) input voltage range is 0～3.3V on the control development board, promptly can not change the negative voltage input signal.In order to solve this contradiction, need before error signal inputs to A/D, add a positive bias voltage, make error signal be on the occasion of.When error signal by after the A/D conversion, deduct the positive bias value in should be before control method is carried out, with the reduction error signal, added before as tracking error signal among Fig. 4 the positive bias of 1V before control method is carried out, should to deduct 1V so by PCI1720U output.Output voltage also may change between positive negative value after the same process control method, and analog-digital chip (D/A) output voltage range is 0～5V on the control development board.Therefore need to add a positive bias signal for the output of control method, then in plant model, deduct this positive bias value, make controlled device can access correct control output signal.
It should be noted that in addition, when the amplitude of error input signal or control output signal has exceeded the operating voltage range of digital-to-analogue/modulus conversion chip on PCI digital-to-analogue/analog-to-digital conversion card on the target machine or the control development board, need carry out corresponding proportion convergent-divergent and reduction to the input and output value.But need to prove that noise signal also can be scaled with useful signal, thereby reduced signal to noise ratio (S/N ratio), can cause dispersing of emulation when serious.
5.. design control method
As shown in Figure 5, in order to realize real-time simulation control, control method is sent trigger pip plant model under the trigger mode on the target machine is controlled on the control development board in Fig. 5, therefore need design the control method based on the triggering delay mode under the CCS environment.This method has comprised following three funtion parts: with the 4. middle control module discretize of step, set up the error control equation of discretize; In method, design the trigger pip of a 0V and 1V alternate selection in addition, for the transformed error of the analog-digital chip (D/A) that prevents to control development board and the analog-to-digital conversion card on the target machine triggers plant model, in trigger pip, deduct the normal value signal of a 0.5V, promptly-0.5-〉0.5V is that positive signal triggers, 0.5V-〉-0.5V is that negative signal triggers.Determine time delay interval according to the time of target machine executive utility consumption at last.This time delay interval comprises time of carrying out plant model consumption, carries out other Simulink module times, PCI digital-to-analog conversion calorie consumption time.For guarantee plant model can be under the control method effect correct execution, time delay interval is greater than target machine, and to carry out the institute that a step consumes free.Control method started modulus conversion chip (A/D) after time-delay was finished, and gathered the error signal that plant model sends by the digital-to-analog conversion card.Carry out the error control equation at last, and control signal is sent to plant model by analog-digital chip (D/A) and analog-to-digital conversion card.
In the present embodiment, the false code of control method is as follows:
Init_DA; % initialization analog-digital chip D/A
Init_AD=1; The trigger pip of % output rising edge pattern
Set DA (i)=init_AD; % gives the output register assignment of analog-digital chip D/A
Start D/A; % starts analog-digital chip D/A
Main_DSP{
Delay (T); % delay time T; Guarantee that executable program can execute on the target machine;
Start A/D; % gathers the error signal of plant model output and reference signal;
{ Execute error Control equation; % carries out the error control equation }
Register=Ycontr; % is with the control signal output register of making a gift to someone
Init_AD=-1*init_AD; % produces the trigger pip of rising edge or negative edge pattern
Set DA (i)=init_AD; % gives analog-digital chip D/A output register assignment
Start D/A; % starts analog-digital chip D/A
}
6.. dispose the executable program of plant model and the executable program of control method
IP address 191.168.0.5, the gateway 192.168.1.1 of main frame at first are set in same subnet; Then adopt manual discretize mode with the plant model discretize, and on main frame, utilize Real TimeWorkshop tool box that the plant model of step in 4. compiled, generate executable program, then executable program is downloaded on the target machine from main frame by netting twine.At last the control method of step in 5. compiled under the CCS environment, generate executable file, download to by emulator XDS510 USB2.0 in the storer of control development board.
7.. the real-time synchronous operation of plant model and control method
Start the 6. executable program of middle controlled device of target machine execution in step, power on for then the control development board, and under the CCS of main frame environment, start to carry out the executable program of control method, produce a trigger pip in the control method initialization procedure earlier, triggering controlled device by analog-digital chip (D/A) is performed, carry out the time delay process in the control method master routine then, last master routine starts modulus conversion chip (A/D), gathers the error signal that plant model sends.
8.. test data collection
Only step signal is analyzed in an embodiment, utilized the metadata acquisition tool that provides under the xPCTarget to upload the data to main frame.The signal of gathering comprises unit step reference signal, closed-loop control system response signal, pid control signal.The real-time control information relevant with controlled device is stored in the internal memory of target machine, and emulation must upload on the main frame after finishing.The metadata acquisition tool that can utilize xPCTarget to provide upload the data to main frame.
For the second order plant model, adopt the real-time simulation of triggerings-time-delay mechanism acquisition to control effect as shown in Figure 6, Fig. 7 represents trigger pip, produces the time interval that trigger pip needs 0.002s as can be seen.Need spended time owing to changing from analog-digital chip (D/A), therefore positive and negative signal conversion process is a curve.
Claims (9)
1, a kind of real-time emulation control method based on triggering-time-delay is characterized in that may further comprise the steps:
The first step connects main frame-target machine, main frame-control development board, target machine-control development board, and makes up software runtime environment, thereby sets up real-time simulation control platform;
Second step, adopting Simulink to set up plant model under the trigger mode on the main frame, this model can be controlled platform by real-time simulation and download on the target machine;
In the 3rd step, design is based on the control method of triggering-time-delay mechanism under host C CS environment, and this control method can be controlled platform by real-time simulation and download to the control development board;
In the 4th step, on real-time simulation control platform, adopt and trigger time-delay mechanism and realize on the target machine real-time synchronous operation based on control method on the plant model of trigger mode and the control development board.
2, the real-time emulation control method based on triggering-time-delay according to claim 1, it is characterized in that, described connection main frame and target machine, be meant: in LAN (Local Area Network), main frame and target machine are coupled together by router and RJ45 netting twine based on ICP/IP protocol, realize the communication between the two, plant model on the main frame comprises working environment Disturbance Model code and can download to target machine like this, and the test data of target machine can upload to main frame.
3, the real-time emulation control method based on triggering-time-delay according to claim 1, it is characterized in that, described connection main frame and control development board, be meant: adopt emulator that the USB interface of main frame is coupled together with the JTAG mouth of controlling development board, can be directly downloaded to after code is finished like this in the storer of control development board.
4, the real-time emulation control method based on triggering-time-delay according to claim 1, it is characterized in that, described linking objective machine and control development board, be meant: analog-to-digital conversion card and digital-to-analog conversion card are installed at target machine, target machine and external control development board are coupled together, receive the output signal of analog-digital chip on the control development board by the former, by the modulus conversion chip of latter's output model signal to the control development board.
5, the real-time emulation control method based on triggering-time-delay according to claim 1 is characterized in that, described structure software runtime environment is specially:
Install software: the Matlab simulation software is installed on main frame, is comprised Simulink, SimulinkResponse Optimization, Real Time Workshop and xPCTarget, the CCS development environment is installed then, be used for the control method exploitation;
Real-time kernel is installed: on main frame, utilize the xPCTarget tool box to generate a small-sized real time operating system, before generating target machine Starting mode, target machine and main-machine communication mode need be set, then this system is installed on the target machine.
6, the real-time emulation control method based on triggering-time-delay according to claim 1 is characterized in that, the described plant model of setting up under the trigger mode, and step is as follows:
1. set up the nonreal time simulation model of closed-loop control system
Set up the closed-loop control system model under Simulink, this model comprises plant model, control module, derived reference signal, display module, utilizes the parameter in the Simulink Response Optimization tool box design control module;
2. design plant model based on trigger mode:
At first set up a subsystem based on trigger mode, and the working environment model of plant model and it is placed in the subsystem module, set up analog input and simulation output interface module in the subsystem outside, analog-to-digital conversion card and digital-to-analog conversion card on the controlled target machine realized carrying out the signal transmission between plant model and the control method respectively.
7, the real-time emulation control method based on triggering-time-delay according to claim 1 is characterized in that, described design is based on the control method of triggering-time-delay mechanism, and step is as follows:
At first utilize the control module that designs in the nonreal time simulation process, set up the governing equation of the difference of plant model output and reference signal;
Design a trigger pip then, plant model based on trigger mode can be carried out, and the time of carrying out plant model consumption according to target machine, time delay interval is set, after time-delay, start modulus conversion chip, gather the error signal that plant model sends by the digital-to-analog conversion card;
Carry out the error control equation at last, and control signal is sent to plant model by analog-digital chip and analog-to-digital conversion card.
8, the real-time emulation control method based on triggering-time-delay according to claim 1 is characterized in that, the real-time synchronous operation of described plant model and control method, and step is as follows:
1. dispose the executable program of plant model and the executable program of control method
At first on main frame, utilize Real Time Workshop tool box plant model to be compiled and generates executable program, executable program is downloaded to target machine by netting twine from main frame, the user defines working time, sampling period according to demand, way of compiling control method under the CCS environment, generate executable file, control method is downloaded on the control development board by emulator;
2. the real-time synchronous operation of plant model and control method
Controlled device is carried out earlier, and therefore the difference of its output signal and reference signal starts the executable program that target machine is carried out controlled device earlier as the input signal of control method; Next step carries out the control method executable program of controlling on the development board after starting target machine, produce a trigger pip in its initialization procedure earlier, triggering controlled device by analog-digital chip and analog-to-digital conversion card transmission is performed, carry out the time delay process in the control method master routine then, the last modulus conversion chip that starts in master routine is gathered the error signal that the executable program of plant model on the target machine sends by the digital-to-analog conversion card;
3. test data collection
In the simulation process, the data information memory that the executable program of controlled device produces on the target machine is in the internal memory of target machine, and emulation must upload on the main frame after finishing.
9, the real-time emulation control method based on triggering-time-delay according to claim 8 is characterized in that, in the described test data collection, the metadata acquisition tool that utilizes the xPCTarget tool box to provide upload the data to main frame.
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| CN200810200034XA Expired - Fee Related CN101364086B (en) | 2008-09-18 | 2008-09-18 | Real-time emulation control method based on triggering-delay |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102354124A (en) * | 2011-09-02 | 2012-02-15 | 中国科学院长春光学精密机械与物理研究所 | Dynamic simulation test method of multi-shaft multichannel linkage movement control system |
| CN105388799A (en) * | 2015-12-29 | 2016-03-09 | 南京因泰莱电器股份有限公司 | Design method of real-time simulation platform of automatic control device |
| CN107666400A (en) * | 2016-07-27 | 2018-02-06 | 百度在线网络技术（北京）有限公司 | Vehicle simulation adjustment method and device for simulative debugging system |
| CN107797462A (en) * | 2016-09-01 | 2018-03-13 | 欧姆龙株式会社 | Emulator linkage, control method, message handling program and recording medium |
| CN109917673A (en) * | 2019-04-09 | 2019-06-21 | 哈尔滨工业大学 | A kind of design method of vertically taking off and landing flyer HWIL simulation steering engine subsystem |
-
2008
- 2008-09-18 CN CN200810200034XA patent/CN101364086B/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102354124A (en) * | 2011-09-02 | 2012-02-15 | 中国科学院长春光学精密机械与物理研究所 | Dynamic simulation test method of multi-shaft multichannel linkage movement control system |
| CN102354124B (en) * | 2011-09-02 | 2013-04-17 | 中国科学院长春光学精密机械与物理研究所 | Dynamic simulation test method of multi-shaft multichannel linkage movement control system |
| CN105388799A (en) * | 2015-12-29 | 2016-03-09 | 南京因泰莱电器股份有限公司 | Design method of real-time simulation platform of automatic control device |
| CN107666400A (en) * | 2016-07-27 | 2018-02-06 | 百度在线网络技术（北京）有限公司 | Vehicle simulation adjustment method and device for simulative debugging system |
| CN107666400B (en) * | 2016-07-27 | 2021-02-26 | 百度在线网络技术（北京）有限公司 | Vehicle simulation debugging method and device for simulation debugging system |
| CN107797462A (en) * | 2016-09-01 | 2018-03-13 | 欧姆龙株式会社 | Emulator linkage, control method, message handling program and recording medium |
| CN109917673A (en) * | 2019-04-09 | 2019-06-21 | 哈尔滨工业大学 | A kind of design method of vertically taking off and landing flyer HWIL simulation steering engine subsystem |
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| Publication number | Publication date |
|---|---|
| CN101364086B (en) | 2010-06-30 |
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