CN102279736A - D2P-based RMS motor controller development system - Google Patents
D2P-based RMS motor controller development system Download PDFInfo
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Abstract
A D2P-based RMS motor controller development system comprises a master device which is used to create a real-time operating environment for the operation of a target device and load a target file generated after simulation verification to the target device for being implemented, and the target device outputs a control signal to control the operation of actuating equipment. By adopting the D2P-based RMS motor controller development system, the technical bottleneck of the traditional motion controller development can be successfully overcome in the development process, the threshold of the software and hardware development can be reduced, the system development cycle can be shortened, the development cost can be reduced, the job requirement of programmers can be simplified and the development efficiency can be improved.
Description
Technical field
The present invention relates to electric machine controller development technique field, specifically, is a kind of RMS electric machine controller development system based on D2P.
Background technology
Under the vigorously supporting of national policy, new-energy automobile is flourish in China, has obtained important breakthrough.Using a very big feature as new-energy automobile is the integrated of electric system, and its middle controller-power electronics assembly is the parts of most critical.The power electronics assembly comprises power device, driving, control, sensor, power supply etc., by problems such as combination between the circuit that solves different process and high voltage isolation, reach higher integrated level, can reduce volume and weight more effectively, companies such as external Continental AG, Bosch have the small serial production ability.Domestic manufacturers' ground zero also exists distribution parameter, electromagnetic compatibility, heat transfer etc. to have more highly difficult technical matters, and still can not reduce cost effectively, reaches higher reliability.
Traditional design of Controller implementation method, need many-sided researchists' such as control algolithm design, software design, hardware design participation to finish, in traditional performance history, the design various aspects all need the specialty the PHP and hardware engineer have at exploitation, debugging jointly then, make control calculation method can well use with hardware in, have only this each link to cooperate closely, form the system of an optimum, just deserve to be called the exploitation of the controller of success.
Yet in the controller performance history of reality, the design of control system algorithm all is manually to write compilation or C language or C++ code in the development environment of corresponding microprocessor mostly, and such process development cycle is long, to having relatively high expectations of programmer.And most of programmers only are familiar with certain language, and adaptability is very poor, and tangible limitation will appear in the exploitation of will interosculating in large-scale development project.The difference of custom because different programmers programmes, the code difference that the same language of the human that same system is different writes out is very big, will make that like this its readability is very poor, even concerning programmer oneself, program for some complicated a little point, self written program oneself is read all gruelling, especially all the more so to assembly language after a period of time.This will make the performance history of entire controller become tediously long numerous and diverse, and on project benefit, the construction cycle, the long cost that just means increased.
Therefore, how to shorten the construction cycle, reduce exploitation complexity and cost of development, become automobile controller manufacturer and user's joint demand and target.
Summary of the invention
Technical matters to be solved by this invention is to overcome the deficiencies in the prior art, and a convenient electric machine controller development system that uses, shortens the construction cycle is provided.
This technical scheme realizes that by a kind of RMS electric machine controller development system based on D2P wherein D2P (Development To Production) is the one-stop development process from " algorithm design → model is built → code generation → hardware debug → product approval ".RMS is the producer that the U.S. specializes in the electric machine controller solution that provides perfect, and the PM100DX that is adopted in this electric machine controller development system is exactly the product of the said firm.PM100DX is a electric machine controller that designs for electric automobile, hybrid vehicle and Industry Control specially, this electric machine controller adopts high hot-fluid enhance heat design, apparent size and weight reduce greatly, and the power plot ratio is greater than 18kW/L and prolonged serviceable life in rugged surroundings.
RMS electric machine controller development system based on D2P includes:
Main equipment, be used to create true-time operation environment for the target device operation, in the MATAL/Sinulink of main equipment development environment, create control system task scheduling engineering based on model, in this control system task scheduling engineering, comprise the systems engineering of one or more subtasks, in each subtask that system has under its command, according to user's the needs of designing and developing, load needed module in the Drive Link model bank, set up oneself motor control strategy and auxiliary control strategy; After strategy Development is finished, under the MATLAB/Simulink environment, carry out system emulation, the characteristic of verification model; After the emulation that is over, checking, double-click the Build module, generate the automatic code of the Electric Machine Control model of being created, and operate by the man-machine interface of Drive Soft software, automatic code is generated, compiles, connects, finally generate file destination * .out file; Start the DriveSoft interface software, in the Compile command bar, import file destination * .out, click the Compile button, with file conversion is * .hex file layout, afterwards, connect RS 232 interfaces of main equipment and the serial line interface of target device, click the Download button, file destination is downloaded to target device;
Target device is the PM100 electric machine controller, receives the file destination of autonomous device, carry out the power-off restarting operation after, the file destination that run user is designed and developed, and output a control signal to actuating equipment, the operation of control actuating equipment;
Actuating equipment is operated accordingly according to the control signal of target device output.
After having adopted said system, following these advantages are arranged:
1) by product level exploitation ECU, can make performance history simpler, quicker;
2) the patterned development environment of Matlab/Simulink/RTW is convenient to proof of algorithm and transplanting;
3) system's overall situation monitoring, Control Software reaches optimization, and automatic code generates;
4) be convenient to development teams and exchange design concept, more directly perceived based on the algorithm evaluation of model;
5) software modularity exploitation reduces the requirement of developer's level of hardware;
6) functional module interface is widely used in automotive grade hardware, and the open operating system upgrading fast;
7) development platform is set up fast, and cost is lower;
8) RMS hardware mature and reliable.
Description of drawings
Fig. 1 is the development process figure of development system of the present invention.
Fig. 2 is the Drive Soft software man-machine interface view in the development system of the present invention.
Fig. 3 is the system task scheduling graph that uses in the development system of the present invention.
Fig. 4 a～4c is 3 kinds of control strategy model synoptic diagram that use in the development system of the present invention.
Fig. 5 is model emulation, the checking figure as a result in the development system of the present invention.
Embodiment
For making the purpose, technical solutions and advantages of the present invention clearer, at first introduce the working environment of this electric machine controller development system.
The client is under the Matlab/Simulink environment for convenience, carry out the simulating developer and the realization of RMS electric machine controller PM100 Electric Machine Control algorithm, associating RMS company of high Divine Land (Beijing) Science and Technology Ltd. of meaning has developed Drive Soft developing instrument in conjunction with the hardware resource of PM100 electric machine controller.Drive Soft is a collection code compile, and code is downloaded, data scaling, and configuration Simulink model development storehouse functions such as (Drive Link) is the application software of one.
The development process figure of development system as shown in Figure 1.The client can be by the development environment based on model, in conjunction with autonomous Electric Machine Control algorithm, realize " the conceptual design analysis---control strategy exploitation---off-line simulation test---matching and calibration is tested in automatic code generation---HIL hardware is encircling---" one-stop D2P (Development To Production) development process, shorten the Products Development cycle greatly.
Fig. 2 shows the man-machine interface view of Drive Soft software.In the Compile of this interface kind command bar, can import the file destination * .out of generation, after clicking the Compile button, this file destination will be converted into the file of * .hex form, connect RS 232 interfaces of computer and the serial line interface of electric machine controller, click the Download button, the file destination of the * .hex form that generates is downloaded to electric machine controller.
Behind operation Drive Soft software, to generate and load Drive Link model bank automatically, Drive Link is PM100 hardware platform and the modeled software development environment of Matlab/Simulink based on U.S. RMS company by the exploitation of the high EON company of meaning, offer Developmental Engineer's bottom software encapsulation (I/O interface, communication interface, internal storage location interface etc.), be used for autonomous Electric Machine Control algorithm development engineering.
Comprise in the Drive Link model bank:
Digital input module is used to realize the collection of 6 external digital signals inputs that the PM100 electric machine controller is provided;
The numeral output module is used to realize the control of 4 external digital signals outputs that the PM100 electric machine controller is provided;
Trigger module, constitute by Task submodule and Task System submodule, the wherein Task submodule setting of scheduling time table of finishing the work, the task scheduling time that Task System submodule is set in response to the Task submodule, the client can develop independently task subsystem in corresponding timetable;
Analog input module, be used for collection of simulant signal, wherein signal comprises: motor A, B, the collection of C three-phase current, motor A, B, C three-phase temperature acquisition, control panel temperature acquisition, drive plate temperature acquisition, RT1～RTD5 five road external temperatures are gathered, dc voltage is monitored and external sensor (1.5V, 2.5V, 5V) voltage detecting;
The PWM control module is made of motor control module, Encoder orthogonal coding module, three-phase PWM control module, SAT (desaturation) module and OC (over-current) module, and wherein motor control module is used for motor is carried out drive controlling; Encoder orthogonal coding module is used to detect motor position and motor speed; The three-phase PWM control module is used for control and enables, is provided with cycle and dutycycle and carry out dead band control; The SAT module is used for the failure alarm signal monitoring; The OC module is used for the failure alarm signal monitoring;
The CAN module comprising the transmission of CAN data, receiver module, is supported the CAN2.0B communications protocol;
Demarcating module is used for by the demarcation of RS232 interface realization to PM100 electric machine controller supplemental characteristic;
The PM100 hardware module is used to be provided with the hardware resource of module, comprises that clock frequency, Memory are provided with, Section specifies and the setting of peripheral hardware resource;
Reseting module, the middle fault that occurs of Build process that is used to reset can be carried out the Build operation again after resetting;
The Build module is used to realize building automatic compiling, the connection of model, generates Downloadable file destination.
For the more concrete performance history of introducing the electric machine controller development system, will also be described in further detail in conjunction with the accompanying drawings by the developing example of magneto (PMSM) control system below.
1) as shown in Figure 3, under the MATLAB/Simulink environment, creates magneto (PMSM) control system task scheduling engineering, comprise 8 subtasks in this task scheduling engineering as can be seen from the figure based on model;
2) in each subtask that system has under its command, according to user's the needs of designing and developing, load needed module in the Drive Link model bank, set up oneself motor control strategy and auxiliary control strategy; As shown in Figure 4, the module that is loaded is respectively the control strategy model of subtask 1, subtask 4, subtask 7, and wherein subtask 1 is that peripheral port control strategy, subtask 4 are that PMSM motor control strategy, subtask 7 are data scaling, storage control strategy;
3) after strategy Development is finished, under the MATLAB/Simulink environment, carry out system emulation, the characteristic of verification model is the wave simulation figure of input, output signal shown in Fig. 5;
4) after the emulation that is over, checking, double-click the Build module, generate the automatic code of the Electric Machine Control model of being created, and operate by the man-machine interface of Drive Soft software, automatic code is generated, compiles, connects, finally generate file destination * .out file.
5) start the DriveSoft interface software, in the Compile command bar, import file destination * .out.Clicking the Compile button, is * .hex file layout with file conversion, afterwards, connects RS 232 interfaces of computer and the serial line interface of electric machine controller, clicks the Download button, and file destination is downloaded to electric machine controller;
6) power-off restarting, the Electric Machine Control algorithm policy that the user designs and develops just can move on electric machine controller, the user can demarcate, adjust every operating characteristic of electric machine controller by special demarcation Control Software such as CANape, ATI Visoon etc.
In sum, the exploitation of carrying out electric machine controller by this system has following these advantages:
Stable hardware platform;
Avoid exploitation of Developmental Engineer's bottom software and the work of testing, be absorbed in control algolithm and realize and optimum control;
The patterned development environment of Matlab/Simulink/RTW improves team development efficiency, is convenient to proof of algorithm and transplanting;
Be convenient to development teams and exchange design concept, more directly perceived based on the algorithm evaluation of model;
System's overall situation monitoring supports control algolithm in-circuit emulation and software to test at loop (SiL-Software in theLoop);
The support engineer develops advanced Electric Machine Control algorithm, and Control Software reaches optimization;
Support State-Flow, S-Function;
Control and demarcation interface document can generate automatically, meet international V-shape development process.
The above is the preferred embodiments of the present invention only, is not limited to the present invention, and for a person skilled in the art, the present invention can have various changes and variation.Within the spirit and principles in the present invention all, any modification of being done, be equal to replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (2)
1. RMS electric machine controller development system based on D2P is characterized in that this system comprises:
Main equipment, be used to create true-time operation environment for the target device operation, in the MATAL/Sinulink of main equipment development environment, create control system task scheduling engineering based on model, in this control system task scheduling engineering, comprise the systems engineering of one or more subtasks, in each subtask that system has under its command, according to user's the needs of designing and developing, load needed module in the Drive Link model bank, set up oneself motor control strategy and auxiliary control strategy; After strategy Development is finished, under the MATLAB/Simulink environment, carry out system emulation, the characteristic of verification model; After the emulation that is over, checking, double-click the Build module, generate the automatic code of the Electric Machine Control model of being created, and operate by the man-machine interface of Drive Soft software, automatic code is generated, compiles, connects, finally generate file destination * .out file; Start the DriveSoft interface software, in the Compile command bar, import file destination * .out, click the Compile button, with file conversion is * .hex file layout, afterwards, connect RS 232 interfaces of main equipment and the serial line interface of target device, click the Download button, file destination is downloaded to target device;
Target device is the PM100 electric machine controller, receives the file destination of autonomous device, carry out the power-off restarting operation after, the file destination that run user is designed and developed, and output a control signal to actuating equipment, the operation of control actuating equipment;
Actuating equipment is operated accordingly according to the control signal of target device output.
2. according to a kind of RMS electric machine controller development system described in the claim 1, it is characterized in that described Drive Link model bank comprises based on D2P:
Digital input module is used to realize the collection of 6 external digital signals inputs that the PM100 electric machine controller is provided;
The numeral output module is used to realize the control of 4 external digital signals outputs that the PM100 electric machine controller is provided;
Trigger module, constitute by Task submodule and Task System submodule, the wherein Task submodule setting of scheduling time table of finishing the work, the task scheduling time that Task System submodule is set in response to the Task submodule, the client can develop independently task subsystem in corresponding timetable;
Analog input module, be used for collection of simulant signal, wherein signal comprises: motor A, B, the collection of C three-phase current, motor A, B, C three-phase temperature acquisition, control panel temperature acquisition, drive plate temperature acquisition, RT1～RTD5 five road external temperatures are gathered, dc voltage is monitored and the external sensor voltage detecting;
The PWM control module is made of motor control module, Encoder orthogonal coding module, three-phase PWM control module, SAT module and OC module, and wherein motor control module is used for motor is carried out drive controlling; Encoder orthogonal coding module is used to detect motor position and motor speed; The three-phase PWM control module is used for control and enables, is provided with cycle and dutycycle and carry out dead band control; The SAT module is used for the failure alarm signal monitoring; The OC module is used for the failure alarm signal monitoring;
The CAN module comprising the transmission of CAN data, receiver module, is supported the CAN2.0B communications protocol;
Demarcating module is used for by the demarcation of RS232 interface realization to PM100 electric machine controller supplemental characteristic;
The PM100 hardware module is used to be provided with the hardware resource of module, comprises that clock frequency, Memory are provided with, Section specifies and the setting of peripheral hardware resource;
Reseting module, the middle fault that occurs of Build process that is used to reset can be carried out the Build operation again after resetting;
The Build module is used to realize building automatic compiling, the connection of model, generates Downloadable file destination.
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Cited By (5)
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| CN103279124A (en) * | 2013-05-24 | 2013-09-04 | 电子科技大学 | Experiment system oriented to development of motor controller of electric vehicle |
| CN104765616A (en) * | 2015-04-29 | 2015-07-08 | 北京经纬恒润科技有限公司 | Method and system for generating IO model automatically |
| CN103235518B (en) * | 2013-04-19 | 2016-04-27 | 中国科学院光电技术研究所 | Testing method and platform for photoelectric tracking stable system |
| CN110751873A (en) * | 2019-11-15 | 2020-02-04 | 郑州意昂新能源汽车科技有限公司 | Method for interconnecting whole vehicle electric control practical training platform of new energy automobile and actual vehicle |
| CN111123764A (en) * | 2019-12-04 | 2020-05-08 | 东风电驱动***有限公司 | CAN signal packaging processing method and system |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103235518B (en) * | 2013-04-19 | 2016-04-27 | 中国科学院光电技术研究所 | Testing method and platform for photoelectric tracking stable system |
| CN103279124A (en) * | 2013-05-24 | 2013-09-04 | 电子科技大学 | Experiment system oriented to development of motor controller of electric vehicle |
| CN103279124B (en) * | 2013-05-24 | 2015-04-08 | 电子科技大学 | Experiment system oriented to development of motor controller of electric vehicle |
| CN104765616A (en) * | 2015-04-29 | 2015-07-08 | 北京经纬恒润科技有限公司 | Method and system for generating IO model automatically |
| CN104765616B (en) * | 2015-04-29 | 2018-04-20 | 北京经纬恒润科技有限公司 | A kind of method and system for automatically generating I/O model |
| CN110751873A (en) * | 2019-11-15 | 2020-02-04 | 郑州意昂新能源汽车科技有限公司 | Method for interconnecting whole vehicle electric control practical training platform of new energy automobile and actual vehicle |
| CN111123764A (en) * | 2019-12-04 | 2020-05-08 | 东风电驱动***有限公司 | CAN signal packaging processing method and system |
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