基于RT-LAB的TCU硬件在环测试系统研究

搭建了车辆变速箱电磁阀系统的硬件在环测试平台,为变速器控制单元（TCU）的开发和测试提供技术上支持。该测试平台硬件包括上位机、实时仿真机、负载箱、信号调理箱等,软件包括RT-LAB仿真平台、自动化测试软件、实时仿真模型等。硬件在环测试平台通过CAN信号传递变速器控制单元的输入信号和输出信号,采集电信号的输入转化为数字信号,可用于TCU控制策略的验证测试。硬件在环测试的变速箱速比与实变速箱车速比误差不超过5%,表明该平台可应用于车辆仿真,验证车辆TCU控制策略的可靠性,缩短研发时间,提高开发效率。     

汽车动力学HiL仿真实验平台的搭建及应用

为了便于汽车研发工作,减少开发周期,搭建了基于实时仿真系统xPC-Target的汽车动力学硬件在环仿真实验平台.根据高精度车辆动力学仿真软件veDYNA的Light车辆模型构架,自主开发了红旗HQ430型轿车车辆模型,并嵌入了方向盘、油门踏板、制动踏板和51单片机等硬件实物.最后采用51单片机作为硬件控制器,设计了基于PID控制算法的车辆横摆稳定性控制策略.针对驾驶员在高速紧急转向、低附着路面连续转向和对开路面转向等极限工况,进行了硬件在环仿真实验.实验结果表明,该硬件在环实验平台可以反应汽车动力学特性,能够在线的验证横摆稳定性控制算法的实时性及有效性.     

基于MATLAB的运动控制系统实验平台设计

针对运动控制系统课程在传统教学中,学生在课程理论知识学习和利用Matlab/Simulink仿真阶段,缺少实际控制单元设计与开发实际工程训练的问题,设计了一个基于Matlab的运动控制系统实验平台,在实验平台使用基于模型设计的方法可实现从仿真测试到实物测试一体化;通过介绍实验平台中的PC端环境配置流程以及实验平台中驱动器的构成给出了实验平台的总体设计方案;说明了实验平台应用基于模型设计的方法实现代码自动生成的流程,并对基于模型设计的开发流程进行了详细的阐述;通过案例永磁同步电机转速、电流双闭环控制系统在实验平台经过模型在环仿真、软件在环仿真、处理器在环仿真,最后到实验平台进行实物测试的流程与实验结果来达到验证实验平台的优点及其可行性和有效性的目的。     

燃料电池汽车整车控制器硬件在环实时仿真测试平台设计

利用Matlab/Somulink实时仿真环境、工业用数据板卡、CAN通讯设备,系统地设计了燃料电池汽车整车控制器硬件在环实时仿真测试平台。利用该平台可以对整车控制器硬件电气特性、底层软件平台和控制算法等进行测试,有效地加快整车控制器的开发进程。     

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。     

面向PLC产品的自动化测试系统平台设计与实现

为了提高可编程逻辑控制器(PLC)产品的测试效率以及降低维护成本,设计、开发了一套自动化测试系统平台,实现了PLC产品的自动化测试。测试对象根据PLC系统构成划分为3个部分：PLC编程软件、PLC嵌入式软件和PLC硬件。PLC编程软件的自动化测试通过Python语言编程,实现对UI控件的识别和操作。PLC嵌入式软件的自动化测试通过使用PLC编程软件组态自动化测试工程+Python语言编程,实现对自动化测试工程的操作。PLC硬件测试通过LabVIEW实现的界面+NI板卡硬件完成。系统整体测试流程的自动化通过Jenkins实现,将自动安装升级、自动化测试、发送测试报告等流程串接起来,过程中完全不需要人工介入。该自动化测试系统平台的应用覆盖了测试工作中的每日构建测试、单元测试和集成测试的应用场景。该自动化测试系统平台成功探索了在工控行业中自动化测试实现的可能性。经过此自动化测试系统平台测试的产品会更加稳定、可靠。     

机载火控系统通用测试平台设计与实现

机载火控系统种类繁多,设备日益复杂且不断更新,对机载火控系统检测系统的开发速度和更新速度提出了更高的要求,通用测试平台能够实现测试设备的快速开发和同步更新,满足机务部队快速保障的需求;介绍了基于虚拟仪器技术和PC104总线的硬件通用平台的设计方法和基于测试模型的软件通用平台的设计方法;实践证明,该机载火控系统通用测试平台能够实现测试系统的快速开发和更新,且环境适应能力强,运行可靠,使用方便。     

基于PXI和cRIO的电子稳定程序硬件在环仿真平台开发

电子稳定程序（Electronic Stability Program,ESP）是新一代汽车主动安全类产品,在国外中高档轿车上广泛安装,国内尚处于研发阶段。在汽车开发过程中,实车试验具有相当的危险性,同时对场地要求很苛刻,所以需要硬件在环仿真平台。本文基于PXI和cRIO搭建了ESP的硬件在环仿真平台。所采用的15自由度整车模型由NI的仿真模块搭建,仿真周期为1ms,能有效地对车辆运动状态进行仿真。     

WIA-PA开发平台的设计与实现

针对推广工业过程自动化无线网络规范的需求,提出一种基于此规范的开发平台设计方法.此平台以ARM7芯片LPC2136作为核心处理器,以CC2520作为射频收发器,可以方便地通过ⅡC或ADC接口扩展传感采集模块.为了便于调试还集成了人机交互及JTAG调试接口.详细阐述了其硬件设计并对平台性能进行了测试试验.结果表明,该开发平台达到了预期的设计要求,便于用户基于此平台进行开发研究.     

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。     

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.     

机械加工MBD毛坯模型的特征识别设计方法

为了解决基于模型的定义(MBD)环境下机械加工毛坯辅助设计问题,采用特征识别技术辅助创建三维毛坯模型.首先分析了机械加工工艺设计环节MBD毛坯模型的组成要素与模型要求,并建立零件模型的属性面邻接图;根据零件模型上加工特征的特点划分简单特征、体积特征和表面特征;通过属性面邻接子图的模式从特征集合中识别出简单特征与体积特征,并利用补特征法与半空间法抑制这2种特征;最后,根据工艺员输入的表面加工余量创建抑制表面特征的实体.在整个毛坯设计推理过程中研究了三维制造标注的维护方法,最终达到辅助工艺员快速设计MBD毛坯模型的目的.     

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.