博世工程师使用基于模型的设计来开发EBIKE驱动系统,根据公司的功能安全标准完成。
They partitioned the drive system controller into two components: a drive controller and a motor controller.
在Simulink中建模的驱动器控制器使用诸如骑车者的节奏,施加在金宝app曲柄处的扭矩以及自行车的速度,以确定电动机需要多大的扭矩以帮助骑车者。
电机控制器,用Simulink和StateFlow建模金宝app®,以更高的时钟频率操作而不是驱动器控制器。它响应于来自驱动控制器的扭矩命令向电机发送信号。
Bosch engineers developed a plant model for each component in Simulink. The drive controller plant model incorporates the rider’s mass and pedaling behavior, as well as environmental factors such as the slope of the ground. The motor controller plant model captures the characteristics of the drive system’s brushless DC motor.
To verify the control algorithms, the team performed separate closed-loop simulations of the drive and motor controllers in Simulink.
对于实时测试,它们使用Simulink Coder™从驱动控制模型中生成代码,编译它,并将其部署到快速原型硬件。金宝app它们使用嵌入式编码器从电机控制模型生成代码®并将其部署到微控制器。
Using a second rapid prototyping unit, the engineers built a test bench equipped with actuators for pedaling a bicycle and sensors to gather performance metrics. They developed test suites for this setup by modeling scenarios in Simulink and using Simulink Coder to generate code for the test hardware.
在MATLAB中工作,该团队分析了模拟和测试结果,创建了扭矩和速度的图来可视化关键性能特征。
博世工程师使用嵌入式编码器从驱动控制和电机控制模型生成微控制器的生产代码。