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Mentor Graphics Users‘ Group, October 2003
Using ModelSim and Matlab/Simulink for System Simulation in Automotive Engineering
Dipl.-Ing. Sven AltmannDr.-Ing. Ulrich DonathFraunhofer-Institut Integrierte SchaltungenBranch Lab Design Automation Dresden
“Mentor Graphics Users‘ Group 2003“9. / 10. Oktober 2003, Sonthofen
Mentor Graphics Users‘ Group, October 2003
Automotive Engineering
System Specification- X-by-Wire, ABS, ESP- Automatic climate control - Automatic transmission
System Simulation- Functional test- Parametrisation- Configuration
Controller Design- ECU - FPGA- ASIC
Mentor Graphics Users‘ Group, October 2003
• Objective
• Matlab/Simulink Vehicle Model
• VHDL-Design Controller
• Simulator Coupling
• System Simulation
• Summary
Outline
Mentor Graphics Users‘ Group, October 2003
Objective
Requirements for Simulation
Simulation Support in Automotive System Design
•Reduction in developing effort
• Increasing design guaranty and reliability
•Reducing costs
•Check of the system functionality, performance andsecurity
•Behaviour of subsystems in interaction with the environment
•System dynamics in time critical load cases anderror situations
•Optimisation of selected operating parameters
Mentor Graphics Users‘ Group, October 2003
FhG IIS LibraryCoupling blocks
Objective
Model VEHICLE
Vehicle modelling
Simulator coupling
System simulation
Model CONTROL
Exact environment modelling for controller design
Test environment
VHDL
Model VEHICLE
SimulationVEHICLE
Controller design
Model CONTROL
SimulationCONTROL
Mentor Graphics Users‘ Group, October 2003
• Objective
• Matlab/Simulink Vehicle Model
• VHDL-Design Controller
• Simulator Coupling
• System Simulation
• Summary
Outline
Mentor Graphics Users‘ Group, October 2003
Matlab/Simulink Vehicle Model
Vehicle model contains models of : - Engine, transmission- Controller- Driver activity
Example from MATLAB Demos :- Automatic transmission control
Mentor Graphics Users‘ Group, October 2003
Module : Shift logic
Matlab/Simulink Vehicle Model
Shift logic
Mentor Graphics Users‘ Group, October 2003
Matlab/Simulink Vehicle Model
FSM 2Shift Selection
FSM 1Gear Switching
Stateflow model : Shift logic
Mentor Graphics Users‘ Group, October 2003
Matlab/Simulink Vehicle Model
Shift Schedule (MATLAB Demo)
Threshold Up_Shift
Threshold Down_Shift
Mentor Graphics Users‘ Group, October 2003
Speed
Gear
Throttle
Driver activitySimulation OutputVehicle behaviour
Simulation Input
Matlab/Simulink Vehicle Model
Mentor Graphics Users‘ Group, October 2003
• Objective
• Matlab/Simulink Vehicle Model
• VHDL-Design Controller
• Simulator Coupling
• System Simulation
• Summary
Outline
Mentor Graphics Users‘ Group, October 2003
System model in Matlab/Simulink
VHDL-Design Controller
Transformation of the Stateflow model „Shift logic“ into VHDL
Mentor Graphics Users‘ Group, October 2003
VHDL-Design Controller
FSM 2Shift Selection
FSM 1Gear Switching
Block diagram „Shift logic“ in HDL-Designer
Mentor Graphics Users‘ Group, October 2003
VHDL-Design Controller
Transformation of the FSMGear Switching
Mentor Graphics Users‘ Group, October 2003
VHDL-Design Controller
Transformation of the FSMShift Selection
Mentor Graphics Users‘ Group, October 2003
Transformation of Shift Schedule
VHDL-Design Controller
Shift Schedule (MATLAB Demo) LookUp-Table Up_Shift
GearThrottle [%]
3 4
1020
100
21
∞
30405060708090
∞∞∞∞∞∞∞∞∞
10.010.0
40.0
13.018.023.027.032.036.040.0
30.030.0
80.0
30.034.042.048.056.063.080.0
50.050.0
100.0
50.054.060.070.080.090.0
100.0
0 ∞10.0 30.0 50.0
Mentor Graphics Users‘ Group, October 2003
VHDL-Testbench in HDL-Designer
Reset Clock
Throttle Speed
Gear
Stimuli Response
Test pattern Comparing responses with Shift Schedule
MUT
VHDL-Design Controller
Mentor Graphics Users‘ Group, October 2003
VHDL-Design Controller
Simulation results in ModelSim
SpeedGear
Throttle
ModelSim Wavetool
Mentor Graphics Users‘ Group, October 2003
• Objective
• Matlab/Simulink Vehicle Model
• VHDL-Design Controller
• Simulator Coupling
• System Simulation
• Summary
Outline
Mentor Graphics Users‘ Group, October 2003
- vehicle dynamics are modelled roughly
- no feedback to vehicle behaviour
Solution Combining VHDL controller model and Matlab/Simulink vehicle model
Restrictions of the VHDL-testbench
Simulator Coupling
Mentor Graphics Users‘ Group, October 2003
System model in Matlab/Simulink
Simulator Coupling
VHDL model „Shift logic“
Mentor Graphics Users‘ Group, October 2003
TCP/IP
Socket-Channel
ModelSim
Matlab-Coupler C-Architecture (DLL)Th
rottl
e
Spee
d
Gea
r
Matlab/Simulink
ModelSim-Coupler S-Function (DLL)
Thro
ttle
Spee
d
Gea
rData transferSimulator Coupling
Mentor Graphics Users‘ Group, October 2003
t_ModelSim
t_Simulink
simulate to t2simulate to t1
t0
Synchronisation
Sample period Sample period
t1 t2
Simulator Coupling
ModelSim
Matlab/Simulink
Mentor Graphics Users‘ Group, October 2003
Vehicle model includes ModelSim-Coupler
Coupling block to ModelSim
Simulator Coupling
Mentor Graphics Users‘ Group, October 2003
Controller model includes Matlab-Coupler
Simulator Coupling
Coupling block to Matlab
Matlab_Coupler
Mentor Graphics Users‘ Group, October 2003
• Objective
• Matlab/Simulink Vehicle Model
• VHDL-Design Controller
• Simulator Coupling
• System Simulation
• Summary
Outline
Mentor Graphics Users‘ Group, October 2003
System Simulation
ThrottleSpeed
Gear
Matlab/Simulink
ResetClock
System testbench
Vehicle model
ModelSim
Shift logic
Mentor Graphics Users‘ Group, October 2003
Matlab/Simulink
ModelSim
Data to ModelSim Data from ModelSim
ModelSim-Coupler
Data to MatlabData from Matlab
Matlab-Coupler
System Simulation
TCP/IP
Mentor Graphics Users‘ Group, October 2003
System Simulation
Diagrams
Control signals
Driver activity
Lists, Statistics ...
Vehicle behaviour
Mentor Graphics Users‘ Group, October 2003
• Objective
• Matlab/Simulink Vehicle Model
• VHDL-Design Controller
• Simulator Coupling
• System Simulation
• Summary
Outline
Mentor Graphics Users‘ Group, October 2003
Summary
Model VEHICLE
SimulationVEHICLE
Model VEHICLE
Controller design
Vehicle modelling
Simulator coupling
Test environment
VHDL
System simulation
Model CONTROL
SimulationCONTROL
Model CONTROLFhG IIS Library
Coupling blocks
Exact environment modelling for controller design
Mentor Graphics Users‘ Group, October 2003
Using Simulation Results
System dynamics in time critical load cases and error situations
Check of the system functionality, performance and security
Behaviour of subsystems in interaction with the environment
Optimisation of selected operating parameters
• Does the transmission switch and are parameters kept (overspeed limitation) ?
• Effect of the current transmission gear for rotation speed and vehicle speed
• How does the vehicle react if brake and throttle are simultaneously activated or if signal transfer failed ?
• Customisation of the shift schedule
Mentor Graphics Users‘ Group, October 2003
Forecast : Synthesis of the FPGA Prototype
RTL Schematicof automatonShift Selection
Summary
Mentor Graphics Users‘ Group, October 2003
Thanks for your attention !
