JP4885639B2 - HILS equipment - Google Patents

Description

  The present invention relates to a hardware in the loop simulator (HILS) device suitable for use in development of a control system using an embedded microcomputer (microcomputer).

  In recent years, in the development of a control system using an embedded microcomputer, a mechanism for performing verification using HILS has attracted attention. By using HILS, verification can be started before the hardware is completed, and there is an advantage that it is possible to verify rare cases that are difficult to realize with the actual machine, and it is possible to automatically execute verification scenarios There are advantages such as.

However, as shown in Non-Patent Document 1, the conventional HILS is composed of a host CPU which is a computer for HMI (Human Machine Interface), a simulator main body including a control computer and an I / O interface BOX, and a dedicated OS. (Operating system) and dedicated applications are used, which are expensive and large-scale.
FUJITSU TEN Home “CRAMAS Top” [searched July 28, 2006] Internet <URL: http://www.fujitsu-ten.co.jp/cramas/content/about.html>

  The present invention has been made in view of the above-described current situation in HILS, and an object thereof is to provide a HILS apparatus that can be realized with an inexpensive and compact configuration.

The HILS apparatus according to the present invention is a controller that controls the side that receives the signal and performs the operation between the actual machine configured by the side that sends the signal and the side that performs the operation according to the signal from the side that sends the signal. In a HILS apparatus that simulates the operation of the real machine through communication with the target board, and operates under a general-purpose operating system and a real-time operating system, and the real machine The first hardware simulation task for writing the log of the signal to be transmitted and received and the operation related to the hardware on the side performing the operation in the actual machine are simulated. A second hardware simulation tasks of writing the signal in the log that Rutotomoni handset, and hardware simulation tasks including at least 2 or more, with respect to the running in under the general operating system, the two or more hardware simulation tasks of An HMI application task that sends out instructions and retrieves and displays the status of the hardware simulation task, and a log is written by the hardware simulation task, and between the hardware simulation task and the HMI application task ; and a shared memory used interface information and signals between said hardware simulation tasks and the target board And performing receiving.

  The HILS apparatus according to the present invention is characterized in that the general-purpose operating system is Windows (registered trademark).

  The HILS apparatus according to the present invention is characterized in that the general-purpose operating system includes ActiveX, and the HMI application task accesses the shared memory using ActiveX.

  The HILS apparatus according to the present invention is realized in a personal computer.

  The HILS apparatus according to the present invention operates a hardware simulation task in a real-time OS and a HMI application task in a general-purpose OS under a multi-OS called a general-purpose operating system and a real-time operating system. Since the configuration uses a shared memory for the interface, the configuration is compact and can be realized at low cost.

  In particular, since the general-purpose operating system is Windows, the HMI application can be created with a general-purpose tool that operates on Windows, and software development becomes easy. Further, the configuration is realized in a personal computer, and it can be realized as a small and convenient device.

  In the present invention, a hardware simulation task is operated by a real-time OS in a multi-OS called a general-purpose operating system and a real-time operating system (hereinafter referred to as an OS), and an HMI application task is operated by a general-purpose OS. By using a shared memory for the interface between tasks, the configuration is made compact and can be realized at low cost.

  Embodiments of the HILS apparatus according to the present invention will be described below with reference to the accompanying drawings. In the drawings, the same components are denoted by the same reference numerals and redundant description is omitted. FIG. 1 is a block diagram showing an embodiment of the HILS apparatus according to the present invention. The HILS apparatus 1 is configured by a computer 10 using a PC / AT compatible machine. For example, an I / O board 11 used for connection to a target board (embedded microcomputer board) 100 that controls an actual machine such as a power window in an automobile is provided. Is provided.

  The software of the HILS apparatus 1 includes a general-purpose OS Windows 21, a real-time OS 22, a standard Windows application 23 that runs under the Windows 21, a real-time application 24 that runs under the real-time OS 22, a Windows 21, and a real-time OS 22. A real-time scheduler 25 that performs time schedule management with respect to the above operations is provided. The HILS apparatus 1 is provided with a shared memory 12.

  In the HILS apparatus 1 according to the present embodiment, for example, with respect to the power window shown in FIG. 2, the motor unit 31 that opens and closes the window and the switch unit 32 that sends an opening and closing instruction are used as actual machines, and an instruction signal from the switch unit 32 is received. For example, the development of the target board 100 that converts the signal to drive and control the motor unit 31 and sends it to the motor unit 31 is taken as an example.

  In this embodiment, the system shown in FIG. 2 is operated using the MATLAB (registered trademark) / Simulink (registered trademark) 50 shown in FIG. 3, and the power window model (model based on MATLAB / Simulink) shown in FIG. 3), a switch model (MATLAB / Simulink model) 52 shown in FIG. 3 is generated from the operation of the switch unit 32, and a controller model (MATLAB / Simulink model) 53 shown in FIG. 3 is generated from the operation of the target board 100. Is generated.

  The generated power window model 51 has a motor block 51A that receives exactly the same control signal as the motor unit 31, performs a rotation simulation for a corresponding time at a corresponding rotation speed, and returns a signal corresponding to the rotation speed and the like. . The power window model 51 is provided with log discharge blocks 51B and 51C which are functional units for writing a log related to the input PWM signal and the signal of the rotational speed to be returned to the shared memory 12. The switch model 52 includes a switch block 52A that transmits a signal in response to a switch operation simulation by a driver or the like, just like the switch unit 32. The switch model 52 is provided with a log discharge block 52B which is a functional unit for writing a log related to the transmitted signal to the shared memory 12.

  Further, the controller model 53 includes a motor rotation control block 53A that simulates a control operation between the motor unit 31 and the switch unit 32, just like the target board 100. The operations of the power window model 51, the switch model 52, and the controller model 53 are programmed into several test scenarios for various conditions. The controller model 53 is also provided with a CAN / IF (interface) 53B including a log discharge block, and I / O boards 53B and 53D. However, since the configuration is not directly related to the HILS, detailed description thereof is omitted here.

  From the power window model 51 and the switch model 52, a code (program) operable in the real-time operation system is automatically generated using the MATLAB / Simulink 50 and mounted on the computer 10. Similarly, a code (program) operable on the target board 100 is automatically generated from the controller model 53 using the MATLAB / Simulink 50 and mounted on the target board 100.

  In addition to the standard Windows application 23, the HILS apparatus 1 is mounted with a program for the HMI part in HILS as a program that runs under the Windows 21. This HMI program runs on Windows 21 as shown in FIG. 4, starts and ends the simulation, and further sets a setting task 61 for the operator to select and instruct a test scenario, and a power window model when executing the simulation. A monitor task 62 that acquires the state of 51 and the switch model 52 and displays the acquired information on the display is implemented. These tasks 61 and 62 are created by a standard Windows application 23 such as Excel (registered trademark), VB, or VC.

  An example of a program (program) automatically generated from the power window model 51 and the switch model 52 using the MATLAB / Simulink 50 and operable in the real-time OS 22 mounted on the computer 10 is shown in FIG. Here, there are four windows, the right front window, the left front window, the right rear window, and the left rear window, as the power window windows, and the corresponding right front window operation switch, left front window operation switch, right rear window operation switch, and left rear window. A window operation switch is provided, and a right front window motor, a left front window motor, a right rear window motor, and a left rear window motor are used to open and close the four windows. In such a case, a right front window operation switch HW (hardware, the same applies hereinafter) task 71, a left front window operation switch HW task 72, a right rear window operation switch HW task 73, a left rear window operation switch HW task 74, The right front window motor HW task 81, the left front window motor HW task 82, the right rear window motor HW task 83, and the left rear window motor HW task 84 are configured to operate in real time operation.

  These tasks 71 to 74 and 81 to 84 are automatically generated using the MATLAB / Simulink 50 from the power window model 51 and the switch model 52, and include programs corresponding to the log discharge blocks 51B, 51C, and 52B. (FIG. 3). The program corresponding to the log discharge block in each of the tasks 71 to 74 and 81 to 84 writes a log to the shared memory 12 as set. On the other hand, the monitor task 62 accesses the shared memory 12, takes in the state information written in the shared memory 12, etc., changes it to display information such as listing, and displays it on the display screen. Windows 21 includes an ActiveX 63, and the monitor task 62 accesses the shared memory 12 through the ActiveX 63. The setting task 61 accesses the shared memory 12 via the ActiveX 63 when the shared memory 12 is accessed and control information for the tasks 71 to 74 and 81 to 84 is written.

  In the computer 10 configured as described above, when the computer 10 is started up and the HILS program is activated, the setting task 61 performs processing according to the flowchart shown in FIG. That is, for example, a test scenario selection screen is displayed on the display as an initial screen (S1). The setting task 61 detects the input (S2), determines whether the selection is completed or not (S3), and if the operator selects any one of the n test scenarios by clicking the mouse, for example, The test scenario execution request is written to the shared memory 12 via the ActiveX 63 (S4). If end is selected in step S3, the process ends.

  The flowchart of FIG. 6 shows processing of the setting task 61 corresponding to an example test scenario. Here, for simplicity of explanation, the test scenario in the example corresponds to opening the right front window operation switch for 5 seconds, and then closing the switch for 2 seconds after that. For this reason, the setting task 61 writes a command for opening the right front window operation switch for 5 seconds to the shared memory 12 (S11), writes a command for no processing for 2 seconds to the shared memory 12 (S12), and closes the operation for 3 seconds. Is written into the shared memory 12 (S13).

  On the other hand, the necessary tasks in the real-time OS 22 and the tasks 71 to 74 and 81 to 84 perform processing as shown in the flowchart of FIG. The real-time OS 22 detects whether a test scenario execution request has been written to the shared memory 12 (S21). If there is a write, the real-time OS 22 reads this and starts the corresponding task (S22). In this example, the right front window operation switch HW task 71 and the right front window motor HW task 81 are activated.

  Based on the command for opening the right front window operation switch written in the shared memory 12 for 5 seconds, control is passed to the HW task 71 for the right front window operation switch, and is output when the right front window operation switch is opened for 5 seconds. Information is sent from the right front window operation switch HW task 71 to the target board 100 and a log is written to the shared memory 12 (S23). The target board 100 receiving this sends a predetermined PWM signal to the right front window motor (S24). The right front window motor HW task 81 receives this PWM signal, writes a log, simulates motor rotation in the direction of opening the window, and detects and outputs a rotation speed signal corresponding to the rotation to the target board 100. A log is written to the shared memory 12 (S25), and the target board 100 receives the rotation speed signal (S26). The target board 100 returns the status information to the right front window operation switch HW task 71 when necessary, while the right front window operation switch HW task 71 writes a log to the shared memory 12 when the return is received. Perform (S27). In response to a command for no processing for 2 seconds, the operation of the right front window operation switch HW task 71 and the right front window motor HW task 81 is not performed.

  In response to the next 3-second closing command, control is passed to the right front window operation switch HW task 71, and is output when the right front window operation switch is closed for 3 seconds, as shown in the flowchart of FIG. Information is sent from the right front window operation switch HW task 71 to the target board 100 and a log is written to the shared memory 12 (S28). Receiving this, the target board 100 sends a predetermined PWM signal to the right front window motor (S29). The right front window motor HW task 81 receives this PWM signal, writes a log, simulates motor rotation in the direction of closing the window, and detects and outputs a rotation number signal corresponding to the rotation to the target board 100. A log is written to the shared memory 12 (S30). The target board 100 receives the rotation speed signal, and returns the status information to the right front window operation switch HW task 71 when necessary. When this return is received, the right front window operation switch HW task 71 receives the shared memory 12. A log is written to (S31).

  On the other hand, the monitor task 62 accesses the shared memory 12 via the ActiveX 63 as shown in the flowchart of FIG. 8 (S41), and creates display information using the information (log) captured at this time. Display on the display is performed (S42). As a result, “information output when the right front window operation switch is opened for 5 seconds” written in the shared memory 12 in steps S23 to S31 in the flowchart of FIG. 7, “target board when the window is opened for 5 seconds” "PWM signal sent from 100 to right front window motor", "Rotation number signal corresponding to rotation detected and output to target board 100 when window is opened for 5 seconds", "Right front window operation when window is opened for 5 seconds" "Signal received at the switch", "Information output when the right front window operation switch is closed for 3 seconds", "PWM signal sent from the target board 100 to the right front window motor when the window is closed for 3 seconds" ”Rotational speed signal corresponding to rotation detected and output to target board 100 when window is closed for 3 seconds”, “Right front window operation when window is closed for 3 seconds” Such as a signal "received at switch are displayed are grouped into a predetermined format by the monitor task 62 to the display.

  Thus, in this embodiment, HILS can be realized by a single personal computer equipped with Windows and a real-time OS, and at the time of HILS verification, input / output of data / signals is desired to be monitored (I / O location). Simply place a log discharge block at the location), perform automatic code generation with MATLAB / Simulink 50, and implement it as a task on the real-time OS. The log is discharged to the shared memory 12, and the Windows monitor task 62 uses the shared memory. 12 can be accessed to check the operation. For this reason, there is an advantage that the apparatus can be reduced in size and the development of the HMI unit is facilitated.

  In the present embodiment, HILS used for developing a controller used for controlling a power window in an automobile having four windows is shown as an example, but the present invention is not limited to this. That is, it can be applied to HILS used for developing a controller used for controlling each part including an automobile engine, and is not limited to an automobile, but used for developing a controller used for controlling various devices and systems. The present invention is also applicable to HILS.

The block diagram which shows the Example of the HILS apparatus which concerns on this invention. The block diagram of the system simulated using the Example of the HILS apparatus which concerns on this invention. FIG. 3 is a block diagram showing a simulated model of the system shown in FIG. 2. The block diagram which shows the software structure of the Example of the HILS apparatus which concerns on this invention. The flowchart which shows an example of a process when the program of the Example of the HILS apparatus which concerns on this invention is started. The flowchart which shows an example of a process when the program of the Example of the HILS apparatus which concerns on this invention is started. The flowchart which shows an example of the process which a hardware simulation task performs when the program of the Example of the HILS apparatus which concerns on this invention is started. The flowchart which shows an example of the process which the monitor task performs when the program of the Example of the HILS apparatus which concerns on this invention is started.

Explanation of symbols

1 HILS apparatus 10 Computer 11 I / O board 12 Shared memory 21 Windows
22 Real-time OS
23 Standard Windows application 24 Real-time application 25 Real-time scheduler 61 Setting task 62 Monitor task 63 ActiveX
71 Right front window operation switch HW task 72 Left front window operation switch HW task 73 Right rear window operation switch HW task 74 Left rear window operation switch HW task 81 Right front window motor HW task 81 Left front window motor HW task 81 Right Rear window motor HW task 81 Left rear window motor HW task

Claims (4)

Connected to a target board that includes a controller that receives the signal and controls the side that performs the operation between the actual machine configured by the side that sends the signal and the side that performs the operation according to the signal from the side that sends the signal In the HILS apparatus for simulating the operation of the actual machine through communication with the target board,
A general-purpose operating system and a real-time operating system;
A first hardware simulation task that runs under the real-time operating system and simulates the operation of the hardware on the signal transmission side in the real machine and writes the log of the signal to be transmitted and received, and the operation in the real machine A hardware simulation task including at least two or more second hardware simulation tasks for simulating operations relating to hardware on the performing side and writing logs of signals to be transmitted and received;
An HMI application task that runs under the general purpose operating system, sends instructions to the two or more hardware simulation tasks, and retrieves and displays the status of the hardware simulation tasks;
A log is written by the hardware simulation task, and a shared memory used for an interface between the hardware simulation task and the HMI application task,
An HILS apparatus that transmits and receives information and signals between the hardware simulation task and the target board .   The HILS apparatus according to claim 1, wherein the general-purpose operating system is Windows.   The HILS apparatus according to claim 2, wherein the general-purpose operating system includes ActiveX, and the HMI application task accesses the shared memory using ActiveX. The HILS apparatus according to any one of claims 1 to 3, wherein the HILS apparatus is implemented in a personal computer.

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