Ontwikkeling van applicatie software: het nieuwe alternatief!

Transcription

1 Ontwikkeling van applicatie software: het nieuwe alternatief! Jan Jacobs, Bosch Rexroth / Jan Benders, HAN automotive 1 08/10/2013 Jan Benders HAN Automotive. All Bosch rights Rexroth reserved, AG also regarding All rights any reserved, disposal, also exploitation, regarding reproduction, any disposal, editing, exploitation, distribution, reproduction, as well editing, as in the distribution, event of applications as well as for in industrial the event property of applications rights. for industrial property rights.

2 Inhoud Ontwikkeling van applikatie software op conventionele wijze Bodas design en Bodas Service: de Rexroth ontwikkelomgeving voor controller-software Model Based Development; de alternatieve manier van applikatie-software ontwikkeling Model based development: de volgende stap RC30 Target en HANtune Bruikbaar in vele toepassingen! Toepassingsvoorbeelden 3 08/10/2013 Jan Benders HAN Automotive. All Bosch rights Rexroth reserved, AG also regarding All rights any reserved, disposal, also exploitation, regarding reproduction, any disposal, exploitation, editing, distribution, reproduction, as well editing, as in the

3 Wie maakt de toepassingssoftware voor uw machine? U als klant: U hebt licenties voor Bodas-Design (B-d) en Bodas Service (B-s) B-d is op CoDeSys gebaseerd (IEC ) en wordt toegepast door diverse fabrikanten van besturingscomponenten Voor CoDeSys zijn veel standaard bibliotheken ( functies & modules) beschikbaar U gebruikt de in B-d beschikbare targets voor hardware-gerelateerde controller functies (I/O, geheugen, communicatie..) 5 08/10/2013 Jan DC-MA Benders Bosch HAN Rexroth Automotive. AG All rights All rights reserved, reserved, also also regarding regarding any disposal, any disposal, exploitation, reproduction, editing, editing, distribution, as well as well as in as the in the event of applications for industrial property rights.

4 BODAS Design Programmeertool Karakteristieken Programmatie van BODAS RC controllers aan de hand van CoDeSys 2.3 (IEC programmeertalen) Eenvoudige en bewezen interface voor het ontwikkelen van applicatiesoftware met behulp van Rexroth Know-How geintegreerd in het BODAS Run Time System Programmeeromgeving Vrij en flexibel programmeerbaar Snelle ontwikkeling van eigen toepassingen door gebruik te maken van BODAS design Source code Snelle ontwikkeling met behulp van: BODAS-design Library BODAS-design Template Diagnose configuratie voor BODAS-service kan mee gecompileerd worden met de applicatie, zodat geen extra diagnosebestanden meer nodig zijn. 7 08/10/2013 Jan Thomas Benders Van Mossevelde HAN Automotive. DCBN/SLM2 All rights reserved, Bosch Rexroth also regarding AG any All disposal, rights reserved, exploitation, also regarding reproduction, any disposal, editing, distribution, exploitation, as reproduction, well as in the editing, event of distribution, applications as for well industrial as the property event of rights. applications for industrial property rights.

5 BODAS Service Karakteristieken Gebruiksvriendelijke interface voor het parametreren en diagnosticeren van Rexroth controllers en Displays. Communicatie interfaces: RS232 (RC series 20&21) CAN Demo versie is gratis beschikbaar via internet download Licentie aan de hand van USB hard lock Service Tool Beschikbare versies: B-s Diagnosis Flash Full Version Procesvariabelen - Diagnose info: foutcodes - Monitoren - Loggen + exporteren Parametersetting Flash tool 9 08/10/2013 Jan Thomas Benders Van Mossevelde HAN Automotive. DCBN/SLM2 All rights reserved, Bosch Rexroth also regarding AG any All disposal, rights reserved, exploitation, also regarding reproduction, any disposal, editing, distribution, exploitation, as reproduction, well as in the editing, event of distribution, applications as for well industrial as the property event of rights. applications for industrial property rights.

6 Van specificatie naar code: Technical Specification Function Design B-d Application Library Functions Executable The BODAS-Design software development tool 12 08/10/2013 Jan DC-MA Benders Bosch HAN Rexroth Automotive. AG All rights All rights reserved, reserved, also also regarding regarding any disposal, any disposal, exploitation, reproduction, editing, editing, distribution, as well as well as in as the in the event of applications for industrial property rights.

7 Wie maakt de software? U als klant: U hebt licenties voor Bodas-Design (B-d) en Bodas Service (B-s) B-d is op CoDeSys gebaseerd (IEC ) en wordt toegepast door diverse fabrikanten van besturingscomponenten Voor CoDeSys zijn veel standaard bibliotheken (functies & modules) beschikbaar U gebruikt de in B-d beschikbare targets voor hardware-gerelateerde controller functies (I/O, geheugen, communicatie..) Of U hebt de C-API; Application Programming Interface voor programmeertaal C en programmeert uw toepassing helemaal zelf ( van scratch af aan ) 14 08/10/2013 Jan DC-MA Benders Bosch HAN Rexroth Automotive. AG All rights All rights reserved, reserved, also also regarding regarding any disposal, any disposal, exploitation, reproduction, editing, editing, distribution, as well as well as in as the in the event of applications for industrial property rights.

8 Van specificatie naar code: Technical Specification Function Design Library Function C Application Executable The BODAS C-API development environment 16 08/10/2013 Jan DC-MA Benders Bosch HAN Rexroth Automotive. AG All rights All rights reserved, reserved, also also regarding regarding any disposal, any disposal, exploitation, reproduction, editing, editing, distribution, as well as well as in as the in the event of applications for industrial property rights.

9 18 08/10/2013 Jan Benders HAN Automotive. All Bosch rights Rexroth reserved, AG also regarding All rights any reserved, disposal, also exploitation, regarding reproduction, any disposal, exploitation, editing, distribution, reproduction, as well editing, as in the

10 Wie maakt de software? U als klant: U hebt licenties voor Bodas-Design (B-d) en Bodas Service (B-s) B-d is op CoDeSys gebaseerd (IEC ) en wordt toegepast door diverse fabrikanten van besturingscomponenten Voor CoDeSys zijn veel standaard bibliotheken (functies & modules) beschikbaar U gebruikt de in B-d beschikbare targets voor hardware-gerelateerde controller functies (I/O, geheugen, communicatie..) Of U hebt de C-API; Application Programming Interface voor programmeertaal C en programmeert zijn toepassing helemaal zelf ( van scratch af aan ) Of U gebruikt een simulatie omgeving om uw machine besturingstechnisch te modelleren (b.v. MatLab SimuLink) en genereert hiermee de machine-code (programma) voor de controller gebruikmakend van de C-API: 19 08/10/2013 Jan DC-MA Benders Bosch HAN Rexroth Automotive. AG All rights All rights reserved, reserved, also also regarding regarding any disposal, any disposal, exploitation, reproduction, editing, editing, distribution, as well as well as in as the in the event of applications for industrial property rights.

11 Werkvolgorde voor handmatig coderen van software: Function Design Implementation Commissioning z=((x>>4)+(y<<1))<<2; (z>0?a=k:a=0); hergebruik code? Iteratie naar oplossing Handmatige methode: vroege keuze van de tools waarvan pas veel later zal blijken of het de juiste was! 21 08/10/2013 Jan DC-MA Benders Bosch HAN Rexroth Automotive. AG All rights All rights reserved, reserved, also also regarding regarding any disposal, any disposal, exploitation, reproduction, editing, editing, distribution, as well as well as in as the in the event of applications for industrial property rights.

12 Motivatie voor Model Based Development Function Design Implementation Commissioning z=((x>>4)+(y<<1))<<2; (z>0?a=k:a=0); FUNCTIONEEL model ontwerp! Hergebruik van code / model!! snellere Iteratie naar oplossing! Model based ontwikkeling: Verbeterde iteratie naar oplossing en goed hergebruik van functioneel ontwerp en software 23 08/10/2013 Jan DC-MA Benders Bosch HAN Rexroth Automotive. AG All rights All rights reserved, reserved, also also regarding regarding any disposal, any disposal, exploitation, reproduction, editing, editing, distribution, as well as well as in as the in the event of applications for industrial property rights.

13 Van specificatie naar code : het alternatief! Technical Specification Technical Specification Function Design Functional Model MATLAB/Simulink Simulink Code Generator Simulink Coder ANSI C Simulink PLC Coder IEC ST Library Function C Application B-d Application Library Function Library Function C-source code B-d Application Library Function Executable Executable Executable Executable Integratie van MathWorks tools in de bestaande BODAS ontwikkelomgeving! 25 08/10/2013 Jan DC-MA Benders Bosch HAN Rexroth Automotive. AG All rights All rights reserved, reserved, also also regarding regarding any disposal, any disposal, exploitation, reproduction, editing, editing, distribution, as well as well as in as the in the event of applications for industrial property rights.

14 Van specificatie naar code: het alternatief! Technical Specification Technical Specification Function Design Bibliotheek moet ook de C- API van de target controller hardware bevatten Functional Model MATLAB/Simulink Simulink Code Generator Simulink Coder ANSI C Simulink PLC Coder IEC ST Library Function C Application Executable B-d Application Executable Library Function Let op: de gegenereerde code moet worden uitgebreid met API functies! Library Function C-source code Executable B-d Application Executable Library Function Generatie van controller code voor target hardware gebruikmakend van Matlab/Simulink en de C-API 27 08/10/2013 Jan DC-MA Benders Bosch HAN Rexroth Automotive. AG All rights All rights reserved, reserved, also also regarding regarding any disposal, any disposal, exploitation, reproduction, editing, editing, distribution, as well as well as in as the in the event of applications for industrial property rights.

15 Van specificatie naar code : nog een stap verder! Technical Specification Technical Specification Function Design Functional Model MATLAB/Simulink Simulink Code Generator Simulink Coder ANSI C Simulink PLC Coder IEC ST Library Function C Application B-d Application Library Function Library Function C-source code B-d Application Library Function Executable Executable Executable Executable Direct genereren van controller code voor target hardware door integratie van de C-API! 29 08/10/2013 Jan DC-MA Benders Bosch HAN Rexroth Automotive. AG All rights All rights reserved, reserved, also also regarding regarding any disposal, any disposal, exploitation, reproduction, editing, editing, distribution, as well as well as in as the in the event of applications for industrial property rights.

16 Model based programming of RC30 controllers: The next step! 31 08/10/2013 Jan Rob Benders Verhoeven HAN DCBN/MKT Automotive. Bosch All rights Rexroth reserved, AG also regarding All rights reserved, any disposal, also exploitation, regarding any reproduction, disposal, exploitation, editing, distribution, reproduction, as well editing, as in the

17 Overview of tools Toolbox Hardware HANtune 32 08/10/2013 Jan Benders HAN Automotive. All rights reserved, also regarding any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights.

18 Workflow Simulink control algorithm HAN RC30 Target HEX file Flash tool ECU XCP Protocol (CAN) ASAP2 file HANtune 33 08/10/2013 Jan Benders HAN Automotive. All Bosch rights Rexroth reserved, AG also regarding All rights any reserved, disposal, also exploitation, regarding reproduction, any disposal, exploitation, editing, distribution, reproduction, as well editing, as in the

19 Model based development Function Design Simulation Function Optimisation Application Engineering Function Prototyping Rapid Control Prototyping Function Testing Hardware-In-the-Loop Function Implementation Automatic Code Generation 34 08/10/2013 Jan Benders HAN Automotive. All Bosch rights Rexroth reserved, AG also regarding All rights any reserved, disposal, also exploitation, regarding reproduction, any disposal, exploitation, editing, distribution, reproduction, as well editing, as in the

20 Simulation Function Design Simulation Controller (software) Process Function Optimisation (software) Application Engineering Function Prototyping Rapid Control Prototyping Function Testing Hardware-In-the-Loop Function Implementation Automatic Code Generation 35 08/10/2013 Jan Benders HAN Automotive. All Bosch rights Rexroth reserved, AG also regarding All rights any reserved, disposal, also exploitation, regarding reproduction, any disposal, exploitation, editing, distribution, reproduction, as well editing, as in the

21 Prototyping (RCP: Rapid Control Prototyping) Function Design Simulation Function Optimisation Application Engineering Function Prototyping Rapid Control Prototyping Controller Function Testing Process (software Hardware-In-the-Loop (hardware) model) Universal RCP ECU Function Implementation Automatic Code Generation 36 08/10/2013 Jan Benders HAN Automotive. All Bosch rights Rexroth reserved, AG also regarding All rights any reserved, disposal, also exploitation, regarding reproduction, any disposal, exploitation, editing, distribution, reproduction, as well editing, as in the

22 Implementation Function Design Simulation Function Optimisation Application Engineering Function Prototyping Rapid Control Prototyping Including: - diagnostics - robustness, etc. Function Testing Hardware-In-the-Loop Function Implementation Automatic Code Generation 37 08/10/2013 Jan Benders HAN Automotive. All Bosch rights Rexroth reserved, AG also regarding All rights any reserved, disposal, also exploitation, regarding reproduction, any disposal, exploitation, editing, distribution, reproduction, as well editing, as in the

23 Testing: Hardware-in-the-loop simulator Function Design Simulation Function Optimisation Application Engineering Process (hardware) Controller (hardware: ECU) Function Prototyping Process Rapid Control I/F Prototyping (software model) HIL simulator I/F Function Testing Hardware-In-the-Loop Function Implementation Automatic Code Generation 38 08/10/2013 Jan Benders HAN Automotive. All Bosch rights Rexroth reserved, AG also regarding All rights any reserved, disposal, also exploitation, regarding reproduction, any disposal, exploitation, editing, distribution, reproduction, as well editing, as in the

24 Optimisation: tuning the parameters Function Design Simulation Controller (hardware: ECU) Process (hardware) Function Optimisation Application Engineering Function Prototyping Rapid Control Prototyping Function Testing Hardware-In-the-Loop Function Implementation Automatic Code Generation 39 08/10/2013 Jan Benders HAN Automotive. All Bosch rights Rexroth reserved, AG also regarding All rights any reserved, disposal, also exploitation, regarding reproduction, any disposal, exploitation, editing, distribution, reproduction, as well editing, as in the

25 Combined toolbox 41 08/10/2013 Jan Benders HAN Automotive. All Bosch rights Rexroth reserved, AG also regarding All rights any reserved, disposal, also exploitation, regarding reproduction, any disposal, exploitation, editing, distribution, reproduction, as well editing, as in the

26 HANtune Signal viewing and logging Parameter viewing and tuning Diagnostics (viewing/resetting of errors) Based on ASAM standards ASAP2 database XCP protocol 42 08/10/2013 Jan Benders HAN Automotive. All Bosch rights Rexroth reserved, AG also regarding All rights any reserved, disposal, also exploitation, regarding reproduction, any disposal, exploitation, editing, distribution, reproduction, as well editing, as in the

27 RC30 Target application example: "The New Cool" Trailer Twan Heetkamp Trailers Partners: TMC, TRTA, TPTS, VALX, TRS Support from HAN and Bosch Rexroth Refrigeration without diesel (clean/silent) Energy from generator in axle and solar panels System control by RC28-14/ /10/2013 Jan Rob Benders Verhoeven HAN DCBN/MKT Automotive. Bosch All rights Rexroth reserved, AG also regarding All rights reserved, any disposal, also exploitation, regarding any reproduction, disposal, exploitation, editing, distribution, reproduction, as well editing, as in the

28 RC30 Target application examples: Punch Powertrains Twinspeed powershift transmission for EV Twinspeed transmission for hybrid refuse collecting vehicle em-kers module for passenger cars 48 08/10/2013 Jan Rob Benders Verhoeven HAN DCBN/MKT Automotive. Bosch All rights Rexroth reserved, AG also regarding All rights reserved, any disposal, also exploitation, regarding any reproduction, disposal, exploitation, editing, distribution, reproduction, as well editing, as in the

29 RC30 Target application example: ARVAL Inspire I Hydrogen fuelled vehicle for Shell Eco Marathon from HAN Automotive Road allowed vehicle In 2012 the only vehicle in it s class with student developed fuel cell system control (RC28-14/30) 49 08/10/2013 Jan Rob Benders Verhoeven HAN DCBN/MKT Automotive. Bosch All rights Rexroth reserved, AG also regarding All rights reserved, any disposal, also exploitation, regarding any reproduction, disposal, exploitation, editing, distribution, reproduction, as well editing, as in the

30 RC30 Target application example: HyDoblo Fiat Doblo, powered by Hydrogen and electricity (see our demo) Overall powertrain control and fuel cell system control by RC36-20/ /10/2013 Jan Rob Benders Verhoeven HAN DCBN/MKT Automotive. Bosch All rights Rexroth reserved, AG also regarding All rights reserved, any disposal, also exploitation, regarding any reproduction, disposal, exploitation, editing, distribution, reproduction, as well editing, as in the

31 RC30 Target application example: Plugin hybrid testbed Development of plug-in hybrid powertrain testbed (ICE/Electric motor/2-speed powershift transmission) Partners: Punch Powertrain, Gomecsys, Spijkstaal, LMS, P2C, KdG How to develop and test the control algorithm without real hardware? Usage of a HIL simulator! 51 08/10/2013 Jan Rob Benders Verhoeven HAN DCBN/MKT Automotive. Bosch All rights Rexroth reserved, AG also regarding All rights reserved, any disposal, also exploitation, regarding any reproduction, disposal, exploitation, editing, distribution, reproduction, as well editing, as in the

32 HAN Automotive R&D services Laboratories/test equipment Education (E/Hybr)Powertrains, engines, fuels Vehicle dynamics, tyres, HMI, 52 08/10/2013 Jan Benders HAN Automotive. All Bosch rights Rexroth reserved, AG also regarding All rights any reserved, disposal, also exploitation, regarding reproduction, any disposal, exploitation, editing, distribution, reproduction, as well editing, as in the

33 Visit our demo Info on the web: For further information: /10/2013 Jan Benders HAN Automotive. All Bosch rights Rexroth reserved, AG also regarding All rights any reserved, disposal, also exploitation, regarding reproduction, any disposal, exploitation, editing, distribution, reproduction, as well editing, as in the

34 Thank you 54 08/10/2013 Jan Benders HAN Automotive. All Bosch rights Rexroth reserved, AG also regarding All rights any reserved, disposal, also exploitation, regarding reproduction, any disposal, exploitation, editing, distribution, reproduction, as well editing, as in the