基于嵌入式系统的高压共轨控制软件研究
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摘要
高压共轨电控燃油喷射系统是一种高度柔性的燃油系统,为柴油机和车辆的性能优化提供了非常大的自由空间,高压共轨电控燃油喷射技术已成为国外各大柴油机制造商研究的热点和未来柴油机技术的发展方向,GD-1高压共轨电控燃油喷射系统为国内正在自主研发的系统之一。本文将嵌入式实时操作系统引入到高压共轨系统控制软件的研究中,在控制软件的总体设计、多任务设计、控制软件程序设计、标定监测系统设计和硬件在环仿真系统设计等方面开展了具体的工作。
1.基于嵌入式实时操作系统对GD-1高压共轨系统的控制软件进行深入研究,采用分层式的模块化思想设计了控制策略,并对控制算法进行设计。将嵌入式实时操作系统引入到GD-1高压共轨系统控制软件研究中,对GD-1控制软件进行了总体设计,整个控制软件分成多个功能模块进行设计,每个控制模块执行相对简单和独立的功能;将控制策略的各模块进行组合,划分为12个任务并确定了各任务的优先级;对任务进行了详细设计,设计了基于任务优先级的调度策略和任务流,保证了各任务基于优先级占用CPU,充分利用软硬件资源。
2.利用Matlab/Simulink工具对控制软件进行编程,利用Targetlink工具自动生成程序代码,缩短了调试阶段;利用该工具的仿真分析功能,在PC机上及时发现、分析和解决控制模型存在的问题。编写了makefile文件,利用make命令对控制软件进行编译,缩短了编译时间,使得控制软件的编译连接过程简单高效。最终完成了基于嵌入式实时操作系统的控制软件编制。
3.基于嵌入式实时操作系统设计了标定监测系统。设计了基于CAN通信的硬件电路和通信信息码;采用定时方式调度监测任务,采用中断方式产生事件来控制标定任务的起停,并将两者的任务优先级和总线优先级设为较低,以满足柴油机控制的实时性、精确性要求;设计了在线标定存储区,直接对标定RAM区的控制参数进行在线更改,实现了真正的在线标定;设计了控制器信息数据文件,形成了FLASH标定数据区、标定RAM区和镜像内存区的映射关系,大大减少了读写ECU的次数。
4.基于CAN总线和多线程技术设计了用于高压共轨系统的硬件在环仿真系统。硬件方面,设计了仿真ECU,成功实现了转速信号的输出、D/A转换和目标ECU输出信号的准确测量。软件方面,采用了多线程技术,监控界面作为主线程,采用Labview完成,实现了监控数据显示、参数设定、工况调整及数据保存等功能;模型线程和通讯线程采用Visual C++开发,作为子线程。通讯方面,分别对仿真ECU和PC机进行CAN通讯编程,通过USBCAN转换卡,实现了两者之间准确可靠的数据通讯,通讯速率达500Kps。
5.形成了自主开发的基于嵌入式实时操作系统的V型控制软件开发平台,大大改善了电控发动机控制软件的开发环境。用控制框图实现控制策略,降低了文字说明的不准确性;自动生成程序代码,缩短了调试阶段;硬件在环仿真系统对ECU软硬件测试和验证,降低了发动机控制软件的开发费用及周期;高效的标定监测系统提高了控制器的优化效率;控制软件划分为多个任务,由实时操作系统调度和管理,使得应用程序的设计和扩展变得容易。
6.本V型开发平台成功应用于GD-1高压共轨系统的研发,进行了一系列试验和调试,包括硬件在环仿真系统试验、油泵试验台试验和柴油机台架试验,实现了GD-1高压共轨柴油机的快速起动、稳定怠速、良好的瞬态性能。试验证明,设计的控制软件和基于任务优先级的调度策略是合理的,具有良好的控制功能,基于嵌入式实时操作系统研发的GD-1高压共轨系统的控制软件是可行的,取得了阶段性进展。
High pressure common rail fuel system is a high flexible fuel system, delegates the developing tendency of diesel engine fuel injection technology and has been the researching hotspot for famous diesel producers all over the world. Its excellent performance provides enormous possibility to optimize diesel engine performance. GD-1 (the first generation green diesel)is one of the high pressure common rail systems, which are developed independently in China. Embedded real-time operating system (RTOS) was introduced in the control software of GD-1 high pressure common rail system, this paper describes the researching work on control software overall design, multitask design, control program realization, code generator, calibration and monitoring system design, hardware-in-loop simulation system design.
1. Based on RTOS, the control software of high pressure common rail system was studied, the control strategy was designed in hierarchy structural programming mode and corresponding control algorithm was studied. Embedded RTOS was introduced to study control software of GD-1 high pressure common rail system, based on this RTOS, the control software was designed as a whole and divided into many modules. All modules of control strategy were compartmentalized into 12 tasks; every task was detailedly designed and assigned specific priority. Tasks were managed and scheduled, the priority-based scheduler made better use of software/hardware resources of ECU, and allowed all events to be handled as quickly and as efficiently as possible.
2. The control algorithms and functions were graphically designed and written in Matlab/Simulink, and transformed into ANSI C codes by a automatic code generation software Targetlink, which shorten the debugging peirod and even ease of development process. They also provide with powerful simulation and analysis functions, help to find, analyze and settle those problems on control model during the developing process. The“makefile”file was hand written to ease the compiling process and to shorten the compiling time by“make”instruction. Consequently the control software was completed based on embedded RTOS.
3. A calibration and monitoring system was designed and developed firstly in china based on embedded RTOS. CAN communication hardware is realized, and corresponding programs were designed: controller area network (CAN) driver, CAN calibration protocol (CCP) driver, monitoring task and calibration task were designed: The cyclic mode was used in monitoring task and the interrupt mode was used in calibration task, and their task priorities were assigned lowest, which ensured the real-time communication and interruption for main control program simultaneously. The online calibration memory was designed and online calibration was carried out to those data in calibration RAM. Mirror memory and calibration RAM optimized write and read accesses to the controller.
4. A hardware-in-loop (HIL) simulation system for high pressure common rail diesel engine was designed based on CAN communication and multithread technology. The simulation ECU was developed to convert and send all necessary parameters for object ECU and PC. An accurate measurement was achieved to actuator signals with no-contact current sensors. Multithread technology was used: Labview was used to develop the monitor-control interface as main thread; diesel model and communication threads were programmed by Visual C++ and ran in the background as sub threads. CAN communication protocol was adopted and communication programs were developed separately for simulation ECU and PC, communication data were converted with an USBCAN card and an accurate, reliable and quick communication was achieved between simulation ECU and PC, with baud rate up to 500k bit/s.
5. Finally V-type development platform based RTOS was achieved independently. Function modules were implemented by Matlab/Simulink, and program code were generated by Targetlink, cut down debug phase and development period. HIL simulation system was used to test ECU, reduced the development period and costs. Highly efficient calibration and monitoring system reduced the developing period of engine and improved efficiency of the ECU. Based on embedded RTOS, compartmentalizing the control software into separate tasks simplified design process; Function modules were managed and scheduled by RTOS, made the control system be easily designed and expanded during developing process of control software.
6. This platform has been successfully used in studying the control software of GD-1 high pressure common rail system. After the following test and debugging, HIL simulation, fuel pump test bench and diesel test bench, GD-1 high pressure common rail diesel engine has achieved quick start, steady idle control and good transient performance. The results showed that the control software and scheduling strategy were rational, and accomplished good control function. The control software of GD-1 high pressure common rail system was feasible.
1.基于嵌入式实时操作系统对GD-1高压共轨系统的控制软件进行深入研究,采用分层式的模块化思想设计了控制策略,并对控制算法进行设计。将嵌入式实时操作系统引入到GD-1高压共轨系统控制软件研究中,对GD-1控制软件进行了总体设计,整个控制软件分成多个功能模块进行设计,每个控制模块执行相对简单和独立的功能;将控制策略的各模块进行组合,划分为12个任务并确定了各任务的优先级;对任务进行了详细设计,设计了基于任务优先级的调度策略和任务流,保证了各任务基于优先级占用CPU,充分利用软硬件资源。
2.利用Matlab/Simulink工具对控制软件进行编程,利用Targetlink工具自动生成程序代码,缩短了调试阶段;利用该工具的仿真分析功能,在PC机上及时发现、分析和解决控制模型存在的问题。编写了makefile文件,利用make命令对控制软件进行编译,缩短了编译时间,使得控制软件的编译连接过程简单高效。最终完成了基于嵌入式实时操作系统的控制软件编制。
3.基于嵌入式实时操作系统设计了标定监测系统。设计了基于CAN通信的硬件电路和通信信息码;采用定时方式调度监测任务,采用中断方式产生事件来控制标定任务的起停,并将两者的任务优先级和总线优先级设为较低,以满足柴油机控制的实时性、精确性要求;设计了在线标定存储区,直接对标定RAM区的控制参数进行在线更改,实现了真正的在线标定;设计了控制器信息数据文件,形成了FLASH标定数据区、标定RAM区和镜像内存区的映射关系,大大减少了读写ECU的次数。
4.基于CAN总线和多线程技术设计了用于高压共轨系统的硬件在环仿真系统。硬件方面,设计了仿真ECU,成功实现了转速信号的输出、D/A转换和目标ECU输出信号的准确测量。软件方面,采用了多线程技术,监控界面作为主线程,采用Labview完成,实现了监控数据显示、参数设定、工况调整及数据保存等功能;模型线程和通讯线程采用Visual C++开发,作为子线程。通讯方面,分别对仿真ECU和PC机进行CAN通讯编程,通过USBCAN转换卡,实现了两者之间准确可靠的数据通讯,通讯速率达500Kps。
5.形成了自主开发的基于嵌入式实时操作系统的V型控制软件开发平台,大大改善了电控发动机控制软件的开发环境。用控制框图实现控制策略,降低了文字说明的不准确性;自动生成程序代码,缩短了调试阶段;硬件在环仿真系统对ECU软硬件测试和验证,降低了发动机控制软件的开发费用及周期;高效的标定监测系统提高了控制器的优化效率;控制软件划分为多个任务,由实时操作系统调度和管理,使得应用程序的设计和扩展变得容易。
6.本V型开发平台成功应用于GD-1高压共轨系统的研发,进行了一系列试验和调试,包括硬件在环仿真系统试验、油泵试验台试验和柴油机台架试验,实现了GD-1高压共轨柴油机的快速起动、稳定怠速、良好的瞬态性能。试验证明,设计的控制软件和基于任务优先级的调度策略是合理的,具有良好的控制功能,基于嵌入式实时操作系统研发的GD-1高压共轨系统的控制软件是可行的,取得了阶段性进展。
High pressure common rail fuel system is a high flexible fuel system, delegates the developing tendency of diesel engine fuel injection technology and has been the researching hotspot for famous diesel producers all over the world. Its excellent performance provides enormous possibility to optimize diesel engine performance. GD-1 (the first generation green diesel)is one of the high pressure common rail systems, which are developed independently in China. Embedded real-time operating system (RTOS) was introduced in the control software of GD-1 high pressure common rail system, this paper describes the researching work on control software overall design, multitask design, control program realization, code generator, calibration and monitoring system design, hardware-in-loop simulation system design.
1. Based on RTOS, the control software of high pressure common rail system was studied, the control strategy was designed in hierarchy structural programming mode and corresponding control algorithm was studied. Embedded RTOS was introduced to study control software of GD-1 high pressure common rail system, based on this RTOS, the control software was designed as a whole and divided into many modules. All modules of control strategy were compartmentalized into 12 tasks; every task was detailedly designed and assigned specific priority. Tasks were managed and scheduled, the priority-based scheduler made better use of software/hardware resources of ECU, and allowed all events to be handled as quickly and as efficiently as possible.
2. The control algorithms and functions were graphically designed and written in Matlab/Simulink, and transformed into ANSI C codes by a automatic code generation software Targetlink, which shorten the debugging peirod and even ease of development process. They also provide with powerful simulation and analysis functions, help to find, analyze and settle those problems on control model during the developing process. The“makefile”file was hand written to ease the compiling process and to shorten the compiling time by“make”instruction. Consequently the control software was completed based on embedded RTOS.
3. A calibration and monitoring system was designed and developed firstly in china based on embedded RTOS. CAN communication hardware is realized, and corresponding programs were designed: controller area network (CAN) driver, CAN calibration protocol (CCP) driver, monitoring task and calibration task were designed: The cyclic mode was used in monitoring task and the interrupt mode was used in calibration task, and their task priorities were assigned lowest, which ensured the real-time communication and interruption for main control program simultaneously. The online calibration memory was designed and online calibration was carried out to those data in calibration RAM. Mirror memory and calibration RAM optimized write and read accesses to the controller.
4. A hardware-in-loop (HIL) simulation system for high pressure common rail diesel engine was designed based on CAN communication and multithread technology. The simulation ECU was developed to convert and send all necessary parameters for object ECU and PC. An accurate measurement was achieved to actuator signals with no-contact current sensors. Multithread technology was used: Labview was used to develop the monitor-control interface as main thread; diesel model and communication threads were programmed by Visual C++ and ran in the background as sub threads. CAN communication protocol was adopted and communication programs were developed separately for simulation ECU and PC, communication data were converted with an USBCAN card and an accurate, reliable and quick communication was achieved between simulation ECU and PC, with baud rate up to 500k bit/s.
5. Finally V-type development platform based RTOS was achieved independently. Function modules were implemented by Matlab/Simulink, and program code were generated by Targetlink, cut down debug phase and development period. HIL simulation system was used to test ECU, reduced the development period and costs. Highly efficient calibration and monitoring system reduced the developing period of engine and improved efficiency of the ECU. Based on embedded RTOS, compartmentalizing the control software into separate tasks simplified design process; Function modules were managed and scheduled by RTOS, made the control system be easily designed and expanded during developing process of control software.
6. This platform has been successfully used in studying the control software of GD-1 high pressure common rail system. After the following test and debugging, HIL simulation, fuel pump test bench and diesel test bench, GD-1 high pressure common rail diesel engine has achieved quick start, steady idle control and good transient performance. The results showed that the control software and scheduling strategy were rational, and accomplished good control function. The control software of GD-1 high pressure common rail system was feasible.
引文
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