基于CAN总线的高精度程控电阻器设计

在电动汽车电池管理系统(BMS)的开发设计过程中,硬件在环(HIL)测试是基于开发和测试的V模式流程中必不可少的环节。通常情况下,在HIL环境中,为了准确模拟实际电池的温度变化,BMS需要高精度的电阻器模拟实际负温度系数(NTC)温度传感器的输出阻抗变换。针对这一问题,设计了一种基于CAN总线的高精度程控电阻器。为提升程控电阻阻值输出精度,给出了一种基于开关网络的程控电阻器改进拓扑结构。介绍了各电阻阻值的选取原则,并提出了基于称重比较算法的开关网络选择方法。借助飞思卡尔单片机及CAN总线接口,设计了基于LabVIEW的程控电阻实时控制上位机软件。试验测试数据表明:该电阻器可在6 MΩ内连续可调,当阻值小于100Ω,将绝对误差控制在1Ω以内;当阻值大于100Ω,相对误差可控制在0.05%以内,满足测试需求。该电阻器可以实现电阻并行控制输出以及在大量程内连续高精度输出,且为硬件在环测试提供了高效的工具设备。该系统可满足电动汽车自动化测试的要求。     

基于DSP的直流无刷电机控制器的硬件设计

本文提出了一种基于DSP的直流无刷电机控制器的硬件电路,包括电流环、速度位置环和IPM(智能功率模块)驱动的硬件电路设计。     

基于视频暗箱的车道保持系统HIL测试研究

为解决实车的车道保持辅助系统(LKA)的高效测试的问题,搭建了基于预瞄驾驶员模型的车道保持控制算法,并提出了基于视频暗箱的车载前视摄像头和ADAS控制器双硬件在环测试方法。方法将摄像头集成在以NI PXI为核心的硬件在环实时仿真系统中,使用CarMaker软件进行车辆动力学和场景建模,通过视频暗箱采集虚拟场景的视频信号用于模拟实际道路情况,完成车道保持辅助系统虚拟仿真测试。结果表明,直线工况下方向盘转角在-1～1deg之间变化,控制器控制效果较为平稳。硬件在环与软件在环的测试结果平均误差在5%以下,表明上述方法对车道保持控制器有较好的测试精度。     

汽车变速器电控单元负载模拟器的设计

根据汽车变速器电控单元(TCU)的测试需求,研制了一套基于电力电子变流器的负载模拟系统。该系统根据不同型号TCU所配置的负载参数建立负载的离散模型,实时计算并运用电力电子技术跟踪负载状态,从而模拟多种类型的负载。实验证明,该系统具备模拟TCU常用无刷直流电机(BLDCM)型负载的能力,并且负载参数可实时调整,大幅增加了TCU硬件在环测试的灵活性和通用性。     

信息

美国国家仪器发布用于实时测试和半实物仿真(HIL)的新版软件美国国家仪器公司(National Instruments,简称NI)发布最新版本基于配置的软件环境NI VeriStand 2011,用于实时测试和仿真应用,包括硬件在环(HIL)仿真和Test Cell中的测控应用。直观、开放     

汽车ASR系统ECU开发及其硬件在环测试

主要设计和开发了 ASR 控制的核心部件——电子控制单元(ECU)并进行了测试。ECU 硬件主要包括 MCU 最小系统电路、SPI 通讯电路、轮速信号处理电路、执行机构驱动电路和 CAN 通讯电路等;设计了软件方案、编写了程序代码。把开发的 ECU 在以 dSPACE 为核心的硬件在环试验台进行了硬件在环测试。测试结果表明 ECU 能够实现驱动防滑控制功能,用硬件在环仿真方法开发电子控制单元有较大的优越性。     

机电作动器悬架硬件在环仿真测试平台研究

为了提高汽车的平顺性,提出一种机电作动器悬架,设计了机电作动器悬架硬件在环仿真测试平台。建立基于机电作动器的主动悬架数学模型与仿真模型,以嵌入式系统单片机为主处理器设计机电作动器悬架的控制器;在此基础上,以dSPACE为模型运行载体搭建机电作动器悬架硬件在环仿真测试平台;利用该测试平台进行了仿真试验。结果表明所研究的硬件在环仿真测试平台具备较好的硬件在环仿真功能,能够对机电作动器悬架性能、主动悬架控制算法进行验证与评价。     

基于PCI总线的发动机电控单元测试系统的开发

针对汽车发动机电控单元硬件在环仿真测试系统的高实时性的要求，采用基于CY7C09449芯片的PCI总线技术构建发动机硬件在环仿真系统。该系统充分利用了阳接口芯片的资源，发挥了阳总线高速数据传输的优势，满足了硬件在环仿真系统謇时数据采集和信号发生的要求。实验结果表明，基于该芯片的测试系统，数据传输快，稳定可靠，具有较高的实用价值。     

基于模型设计的倒立摆滑模变结构控制器研究

提出一种基于模型(MBD)的倒立摆控制器设计方法.相对于传统软件设计流程,MBD具备代码生成和早期算法验证功能.首先运用Lagrange方程建立倒立摆仿真模型;然后设计基于LMI倒立摆滑模变结构控制器算法模型,在仿真环境下与被控模型结合形成控制综合系统并进行仿真实验;接着自动生成滑模变结构高效嵌入式代码,整合成倒立摆控...     

基于MBD技术的工艺设计

MBD技术是近几年在航空制造业发展起来的新技术,使航空产品的研制模式发生了重大改变。本文通过对制造企业MBD技术发展现状的分析,针对如何做好基于MBD的工艺设计工作提出了三点建议。     

基于模型设计的处理器在回路联合仿真系统

运用基于模型设计方法开展处理器在回路联合仿真系统的设计研究.针对该方法在模型定点化重构及参数定标过程中存在的参数收敛不一致及工作量大等问题,提出一种迭代参数定标方法,设计了定标比较模块和迭代参数调整模块.建立了基于Matlab/Simulink联合仿真系统模型,以TMS320C6416为核心处理器建立联合仿真目标板平台...     

燃料电池动力系统硬件在环仿真开发

建立了燃料电池硬件在环仿真系统平台，包括燃料电池动力系统各部件模型和控制系统底层软硬件平台，对多能源动力系统能量管理的不同控制算法进行了分析。硬件在环仿真系统在动力控制系统开发中得到了广泛的应用，并对恒压控制算法进行了台架试验，验证了硬件在环仿真系统的有效性。     

小型飞艇自驾仪硬件在回路仿真平台设计

设计小型飞艇自驾仪的硬件在回路仿真平台,包括建立基于嵌入式系统ARM9的飞控系统验证机,采用分层结构方式的导航与控制模块。同时构建小型飞艇的动力学、压控系统和传感器仿真模型,充分发挥硬件在回路仿真测试系统软硬件结合的特点,缩短研发周期,提高系统可靠性。仿真结果表明了该平台的有效性。     

FADEC硬件在回路测试系统设计

发动机全权限数字电子控制器(FADEC)对航空发动机进行实时在线控制,其控制效果直接影响发动机的安全运行.硬件在回路测试系统是FADEC设计与验证的重要手段之一.设计了一种FADEC硬件在回路测试系统,该系统包括发动机电子控制器(EEC)、接口模拟器、发动机和飞机模型及其显示系统.该系统可以实时模拟发动机和飞机的各种传感器、执行机构信号,对FADEC进行高效、全面的验证,主要包括控制规律、EEC的接口电路、自检测、容错和重构策略等.通过大量的试验测试表明,该系统能够实现实时、稳定、高效的闭环仿真,达到了验证控制算法和控制逻辑的要求.     

Time Delay Compensation for Hardware-in-the-loop Simulation of a Turbojet Engine Fuel Control Unit Using Neural NARX Smith Predictor

Hardware-in-the-loop (HIL) simulation is an effective technique that is used for development and testing of control systems while some of the control loop components are simulated in a proper environment and the other components are real hardware. In a conventional HIL simulation, the hardware is an electronic control unit which electronic control signals are communicated between the hardware and the software. But, HIL simulation of a mechanical component requires additional transfer systems to connect the software and hardware. The HIL simulation can achieve unstable behavior or inaccurate results due to unwanted time-delay dynamic of the transfer system. This paper presents the use of Smith predictor for time-delay compensation of transfer system in the HIL simulation of an electro-hydraulic fuel control unit (FCU) for a turbojet engine. A nonlinear auto regressive with exogenous input (NARX) neural network model is used for modeling and predicting the FCU behavior. The neural model is trained by Levenberg-Marquardt algorithm and the training and validation sets are generated using the amplitude modulated pseudo random binary sequence (APRBS). The consistency of the experimental real-time simulation and off-line simulation shows the applicability of the presented method for mitigating the effect of unwanted dynamic of the transfer system in the HIL simulation.

     

A full-scale roller-rig for railway vehicles: multibody modelling and Hardware In the Loop architecture

In this paper an innovative Hardware In the Loop (HIL) architecture to test braking onboard subsystems on full-scale roller-rigs is described. The new approach allows reproducing on the roller-rig a generic wheel–rail adhesion pattern (especially degraded adhesion conditions) without sliding and, consequently, wear between the roller and wheel surfaces. The presented strategy is also adopted by the innovative full-scale roller-rig of the Railway Research and Approval Center of Firenze-Osmannoro (Italy); the new roller-rig has been built by Trenitalia S.p.A. and is owned by SIMPRO S.p.A. At this initial phase of the research activity, to effectively validate the proposed approach, a complete multibody model of the HIL system has been developed. The numerical model is based on the real characteristics of the components provided by Trenitalia and makes use of an innovative wheel–roller contact model. The results coming from the simulation model have been compared to the experimental data provided by Trenitalia and relative to on-track tests performed in Velim, Czech Republic, with a UIC-Z1 coach equipped with a fully-working WSP system. The preliminary validation performed with the HIL model highlights the good performance of the HIL strategy in reproducing on the roller-rig the complex interaction between degraded adhesion conditions and railway vehicle dynamics during the braking manoeuvre.     

某飞机辅冷系统IMA应用实时验证模型研究

某飞机环控增加蒸发制冷式辅助冷却系统（简称辅冷系统）,对多个厨房、大功率电子设备以及设备舱进行冷却。为了对综合模块化航空电子系统(IMA)驻留应用进行硬件在环（HIL）测试验证,开展辅冷系统实时仿真模型研究。在对辅冷系统冷凝器等关键部件的建模原理进行数学描述后,利用MATLAB/Simulink进行部件建模与仿真分析,并根据建模框架对辅冷系统模型进行集成与仿真,最后将模型下载到实时机对IMA应用进行HIL测试。仿真与测试结果表明,制冷剂工作压焓曲线满足要求,辅冷系统模型仿真误差满足要求,可以对IMA应用进行实时的仿真验证。首次利用模型开展制冷剂在关键部件的工作压焓曲线以及飞机辅冷全系统的HIL测试研究,该研究对制冷领域的系统级实时仿真验证具有参考意义。     

Functional test environment for time-triggered control systems in complex MPSoCs

Many safety-critical and especially mixed-criticality computer systems are realized as a time-triggered (TT) system. Such systems execute one or more tasks according to a pre-determined scheduling. For the integration of functionality on such a TT MPSoC, not only the timing, but also the interplay of functional behavior and timing, needs to be validated.In this work we are proposing a new test environment for TT systems. Our proposed framework captures the TT system configuration, performs consistency checks and generates a fast executable simulation model. In the past, functional integration testing has been performed on a prototyping board, sometimes in a Hardware-in-the-Loop (HIL) configuration to support testing against a complex environment model. Compared to a simulation model, a HIL setup requires high effort, has a comparable low observability and is more difficult to debug. For this reason we propose the GALI (Globally Accurate, Locally Inaccurate) simulation model that combines an instruction accurate simulation engine with a global time-triggered scheduler. Thus, combining the low-level view on the implemented system with very good testability and debuggability.The proposed configuration and simulation platform accelerates the design and implementation of future TT systems. We evaluate our presented approach on a safety-relevant multirotor system.     

Real-time multi-rate HIL simulation platform for evaluation of a jet engine fuel controller

A new Hardware-In-the-Loop (HIL) platform is developed for testing of a turbojet engine fuel control system using a multi-rate simulation platform. The HIL equipment consists of an industrial PC and a commercial I/O board for jet engine simulation as the controlled process and an Electronic Control Unit (ECU) as the fuel controller. The controlled process consisting of actuator, physical process and sensors is fully simulated in HIL simulation. However, the high resolution signals of some components in the HIL simulation cause the real-time simulation to become difficult due to the need of small time-steps. As a result, the disparity between the jet engine model sampling rate and these high resolution signals requires a multi-rate simulation. In this study, a multi step size simulation is developed using multiple processors. These processors are designed to synchronize the status of the engine model with the control system as well as to convert the raw data of the I/O boards to actual input and output signals in real-time. These features make the HIL equipment more effective and flexible. The HIL environment is proved to be an efficient tool to develop various control functions and to validate the software and hardware of the engine fuel control system.     

某新型航空发动机的建模及仿真研究

建立航空发动机的数学模型进行仿真实验在发动机的整个研制过程中尤为重要.针对目前大多航空发动机的建模及仿真研究都仅限于单轴或双轴发动机的问题,结合某新型航空发动机的特点提出三轴发动机的建模及仿真方法,并通过HIL仿真试验系统的综合测试.对比分析结果表明,某型航空发动机的数学模型具有较高的置信度,所提出的数学模型能够满足控制器HIL仿真、控制器测试等方面的应用要求.