In the traditional control unit development electric tricycle controllers, the serial development mode is usually adopted, that is, first according to the application needs, the system requirements are proposed and the corresponding function definitions are carried out, and then the hardware design is carried out, and the hardware-oriented code is written in assembly language or C language. Then complete the integration of software, hardware and external interfaces, and finally test and calibrate the system.
Vehicle controllers, especially pure electric vehicle controllers, mostly use the V-mode development process for vehicle controller development. The continuous development of software and hardware technology provides powerful tools for parallel development.
The first step is function definition and offline simulation. Firstly, clarify the functions that the controller should have according to the application needs to provide the basis for hardware design; then establish a simulation model of the entire control system based on Matlab, and perform offline simulation, and use software simulation methods to design and verify control strategies.
The second step is rapid controller prototype and hardware development. Take out the controller model from the Matlab simulation model of the control system and combine it with the physical interface module of dSPACE to realize the physical connection with the controlled object, and then use the compiler tool provided by dSPACE to generate an executable program and download it to dSPACE. As a substitute for the target controller, dSPACE can easily realize online debugging of control parameters and adjustment of control logic.
While performing offline simulation and rapid control of its prototype, according to the functional design of the controller, the functional analysis of the hardware is simultaneously completed and the corresponding hardware design and production are performed, and the hardware is improved and modified according to the results of the software simulation.
The third step is to generate the target code. The aforementioned rapid control prototype basically generated a satisfactory control strategy, and the hardware design also formed the underlying driver software of the final physical carrier ECU. After the two were integrated, the target code was generated and downloaded to the ECU.
The fourth step is the hardware-in-the-loop simulation of a pure electric vehicle. The purpose is to verify the function of the electric vehicle controller ECU. In this link, in addition to the electronic control unit, which is a real component, some controlled objects can also be real components.
The fifth step is debugging and calibration. Link the ECU that has undergone hardware replacement and simulation verification to the completely real controlled object, and perform actual operation tests and debugging.