基于模型设计的拖拉机整机控制系统的设计与开发

Design and development of tractor machine control system based on model design

针对传统拖拉机自动化程度低、操作复杂、缺少整机控制器的现状,在分析拖拉机整机控制系统结构组成及功能需求的基础上制定了整机控制器的控制策略,使用Simulink软件搭建了整机控制策略模型,利用代码自动生成技术生成应用层代码并结合底层驱动代码一并下载到整机控制器中,以实现整机控制程序的开发;使用美国NI公司的Veri Stand软件搭建上位机控制系统,进行整机控制器的硬件在环仿真,验证了整机控制器的功能;道路试验表明,基于模型设计方法开发的拖拉机整机控制器实现了整机控制功能,满足了拖拉机对整机控制器的需求。基于模型设计自动生成的代码完全可以替代人工手写的代码,以缩短整机控制器的开发周期,提高开发效率,降低开发成本。

Aiming to change the current status of traditional tractors with low degree of automation,complicated operation and lack of controllers,the control strategy was established based on the analysis of the structure composition and functional requirements of the tractor control system,then the whole machine control strategy model was built using Simulink software.The application layer code was generated using code generation technology and combined with the bottom driver code before it was downloaded to the controller.And the development of the whole machine control program was realized.The upper computer control system was built using VeriStand software from NI of the United States,and the hardware-in-the-loop simulation of the controller was carried out and the function of the whole controller was verified.The road test shows that the tractor whole machine controller based on the model design method realizes the control function of the whole machine and satisfies the demands of the tractor for the controller.The code automatically generated from model based design method can completely replace the manually-written code,which can shorten the development cycle of the controller,improve the development efficiency and reduce the development costs.