基于AUTOSAR规范的车用电机控制器软件开发.pdf
同济大学出版的基于AUTOSAR规范的车用电机控制器软件开发，书中有英飞凌AURIX多核单片机的介绍、AUTOSAR基础理论介绍、AUTOSAR开方工具 Davinci Developer的介绍等内容仅供个人学习使用！！不允许被用作商业，更加不允许大面积宣传！！损害作者的利益！！基于 AUTOSAR规范的车用电机控制器软件开发朱元陆科吴志红著同大学出版社TONGJI UNIVERSITY PRI内容提要本书主要介绍了汽车电子的最新规范 AUTOSAR,以及如何开发符合 AUTOSAR规范的电机控制器软件的详细过程。全书分为基础篇和实战篇:基础篇介绍汽车电子软件开发趋势,以及多核单片机和AUTOSAR的相关概念;实战篇介绍了利用 Vector工具链基于 AURIX单片机开发电机控制器的思路和步骤。本书在编写中,力求内容正确,所有的内容都经过相关专家审阅,并经作者测试,步骤清晰,配图丰富。本书适合具有一定嵌入式软件开发基础知识的读者,可作为高等院校本科生、研究生学习嵌入式软件开发的参考书,也可供汽车电子行业软件工程师学习和参考。图书在版编目(CIP)数据基于 AUTOSAR规范的车用电机控制器软件开发/朱元陆科,吴志红著.-上海:同济大学出版社,2017.8ISBN978-7-5608-7134-9I.①基…Ⅱ.①朱…②陆…③吴…Ⅲ.①汽车电子系统一应用软件一高等学校一教材Ⅳ.①U463.6中国版本图书馆CIP数据核字(2017)第159351号基于 AUTOSAR规范的车用电机控制器软件开发朱元陆科吴志红著策划编辑赵泽毓责任编辑朱勇责任校对徐春莲封面设计陈益平出版发行同济大学出版社www.tongjipress.com.cn(地址:上海市四平路1239号邮编:200092电话:021-65985622)经销全国各地新华书店印刷常熟市大宏印刷有限公司开本787mm×1092mm1/16印张12.75字数318000版次2017年8月第1版2017年8月第1次印刷书号ISBN978-7-5608-7134-9定价56.00元本书若有印装质量问题,请向本社发行部调换版权所有侵权必究ForewordDear Readers.AUTOSAR is“ Today”,not“ Tomorrow”Automotive OEMs, suppliers, semi-conductor manufacturers and providers for basic software andrelated tools contributed a lot of effort on AUTOSAR in the past years. The goal is to introduce anew development methodology, a new architecture and new functionalities to face the challenge ofthe increasing complexity of Automotive E&.E. I am glad that AuTOSaR grows step by step andis accepted by automotive industry more and more. AUTOSAR achieved success in Europe firstly,and then was recognized by USA and Japan. Now it is ChinaThe good thing is: now the engineers in Europe, USA, Japan and China are usingAUTOSAR or studying autosar because they know it will be useful tomorrow. Moreand more Chinese engineers want to know AUTOSAR in detailed and practically. The badthing is: the tremendous growth of functionality from AUTSOAR release 1.0 to 4.3 reflectsthe complex requirements of automotive electronics and their fast increase directly. Thee newtechnologies like Multi-core, Functional Safety, Ethernet and Security raise the entry levelof AUTOSAR. The beginners may feel confused and painfulI totally understand the importance of native language to ease the access to new technologiesSo i really appreciate the work by Dr. Zhu Yuan, Dr. Wu Zhihong, Mr. Lu Ke and theirteam at CDHK Tongji University- Vector Automotive Technology Joint Laboratory. IaImsure that the first Chinese AUTOSaR book written by Dr. Zhu Yuan, Dr. Wu ZhihongMr. Lu Ke and their team is great news for Chinese engineers and students. With the help ofthis book, readers will get the system overview of AUtOSaR and learn how to create anAUTOSAR project with OS, BSWM, ECUM and so on. In the same time, I also thankInfineon Technologies and Shanghai Dajun Technologies, Inc. for their great supportI wish all readers a lot of fun reading this book and a lot of success when implementing theAUTOSAR approach in their projectsDr. Gunther HelingDirector for Embedded Software and SystemsVector Informatik gmbh前言为应对日益复杂的汽车电子软件开发、更新和维护的问题, AUTOSARAUTomotiveOpen System ARchitecture(汽车开放系统架构)联盟应运而生。在 AUTOSAR分层模型中软件模块及软件模块之间的接口定义更加标准化,使得整车厂、供应商、科硏机构之间可以方便地实现软件联合开发,为汽车工业的软件系统框架建立了一套开放的标准。与此同时,汽车电子控制单元对单片机的性能要求不断提高,车用32位多核处理器自2012年面世以来已逐渐广泛应用于汽车电子控制单元中。英飞凌科技和维克多( Vector)公司均为 AUTOSAR联盟的高级成员。英飞凌全新的32位多核架构单片机— AURIX引领全球最先进的车用微处理器技术,满足现在及未来汽车安全和安防所需要的应用要求; Vector在汽车电子开发工具、嵌入式软件组件和技术服务等方面具有领先地位。在上海大郡动力控制技术有限公司及徐性怡总裁的支持下,恰逢在国家重点研发计划资助课题——“电机控制器功能安全”(2016YFBO100804)中编者选用了英飞凌 AURIX产品家族系列中的单片机(TC275)和 Vector公司 AUTOSAR软件产品及工具来开发电机控制器软件系统。基于上述课题的研发经历及软件设计成果编著此书,旨在国内推广和普及遵循AUTOSAR规范的软件开发技术。本书分为基础篇和实战篇。基础篇包含1~3章。第1章概述了当前汽车电子软件的开发特点和趋势;第2章对比了多核单片机和单核单片机的特点,分析了多核单片机的优势和软件开发中的挑战;第3章介绍了 AUTOSAR的概念和架构,详细介绍了 AUTOSAR的基础软件层、实时运行环境层和应用层。实战篇包含4~9章,主要讲述基于 AURIX和 AUTOSAR的新能源汽车电机控制器的开发。其中,第4章介绍了新能源汽车发展趋势和电机控制器的开发方法,分别从控制算法、硬件结构和软件架构方面进行讲述;第5章介绍使用 VectorDa Vinci Developer开发电机控制器的软件架构,给出了配置SWC模块的实例;第6章介绍如何使用 Simulink进行应用层软件(例如控制算法)建模以及代码生成的相关内容;第7章介绍了使用 Vectorυ a Vinci Configurator Pro配置电机控制器的基础软件的详细步骤,包括CAN通信配置、MCAL配置以及其他基础软件模块配置等内容;第8章介绍了电机控制器算法的运行实体配置、 AUTOSAR多核OS设计和代码生成的相关内容;第9章介绍了软件代码的集成及其测试验证的相关内容本书由同济大学中德学院一维克多汽车技术联合实验室,同济大学一英飞凌汽车电子联合实验室编写。基础篇主要由朱元、吴志红编写,实战篇由朱元、陆科编写。全书由朱元组织统稿, Vector公司高路博士审阅。本书编写过程中得到了英飞凌科技和 Vector公司的大力支持,编者在此特别对英飞凌科技(中国)有限公司的徐辉女士、 Dirk geiger先生、杜曦先生、张立红先生、徐晶女士、陈汉顺先生,维克多汽车技术(上海)有限公司高路博士表示衷心的感谢。同时真挚地感谢 Math Works公司杜建福博士百忙之中为本书6.1和6.2章节提供了素材,并亲自编写了部分初稿。最后感谢本实验室胡力兴、赵建宁、李清晨、罗梦、王磊、董涛、王惜嘉、顾尉松、李超、张翟辉、仇里森、牛佳辉、周东东、韩光江等同学的资料整理、录人工作。本书适合具有一定嵌入式软件开发基础知识的读者,可作为高等院校本科生、研究生学习嵌入式软件开发的参考书,也可供汽车电子行业软件工程师学习和参考本书在编写过程中力求内容正确,书中所有的内容都经过英飞凌科技和 Vector专家审阅,也经过作者测试,并在科研项目中得到实际的应用。但由于我们的水平有限,编写时间紧张,缺点和错误之处在所难免,敬请读者指正著者2017年5月于同济大学目录目录Foreword前言基础篇第1章汽车电子的软件开发………………………………………………………………………………………31.1汽车电子系统简介…31.1.1概念1.1.2分类1.1.3工作原理1.1.4发展情况…………………………1.2汽车电子系统的开发…1.2.1汽车电子的组成部分:硬件和软件1.2.2硬件的开发方法5666781.2.3软件的开发方法1.3基于 AUTOSAR自顶向下地开发电机控制器1.4汽车电子系统的安全性第2章多核单片机在汽车电子系统中的应用……………………………………112.1单核单片机在汽车电子系统中的应用及局限性………………………………112.2多核单片机在汽车电子系统中的优势和软件开发中的挑战112.2.1多核处理器的优势…112.2.2多核软件开发所面临的问题122.2.3 AUTOSAR规范的应用……………………………………………………………122.3英飞凌 AURIX单片机的特点介绍132.3.1 AURIX系列单片机简介…132.3.2 AURIX的整体架构……………………142.3.3 AURIX系列单片机特色模块介绍…………………………………………………15第3章 AUTOSAR理论基础233.1 AUTOSAR简介…233.1.1目标……………………………………………………………………243.1.2、方法论263.2 AUTOSAR基础软件层…283.2.1微控制器抽象层…30基于 AUTOSAR规范的车用电机控制器软件开发3.2.2ECU抽象层……………………373.2.3服务层……………………………………………………………………………393.2.4 AUTOSAR操作系统183.2.5复杂驱动…………………………………………563.3 AUTOSAR运行时环境…………583.4 AUTOSAR应用层593.4.1 AUTOSAR软件组件593.4.2 AUTOSAR通信61实战篇第4章新能源汽车电机控制器…654.1新能源汽车及发展趋势…………………………………………………………………654.2电机控制器的开发…………………………………………………………………674.2.1控制算法674.2.2硬件结构…·:·4.2.3软件框架第5章使用 Da vinci Developer开发电机控制器软件架构………765.1 Vector相关工具链介绍5.2 Da Vinci Developer简介775.3 Da Vinci Developer入门……………785.3.1 Da vinci Developer安装方法5.3.2 Da vinci Developer界面说明……………………………………835.4使用 Da Vinci Developer配置SWC…5.4.1软件组件设计……………………………………………………………………………875.4.2通信接口设计…895.4.3通信端口设计………………………………………………………………915.4.4运行实体设计…………………………………………………………………935.4.5函数间变量设计…………………………………………………………………………95第6章使用 Simulink开发应用层6.1 MATLAR/ Simulink和 Embedded coder工具链介绍976.1.1 MATLAB/ Simulink基于模型的设计工具……76.1.2 Stateflow-建模和仿真决策工具986.1.3 Embedded coder代码生成和优化工具…………………………………996.2开发符合 AUTOSAR规范的应用层……………………………………………1006.2.1 AUTOSAR客户端、服务器…………1006.2.2 AUTOSAR标定参数…1036.2.3 AUTOSAR组件行为……………………………………………………………105
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abaqus script reference manual
ABAQUS脚本参考文件，适合二次开发，ABAQUS各个模块的语句参考ABAQUS Offices and RepresentativesABAQUS, IncABAQUS Europe BVRising Sun millsGaetano Martinolaan 95166 Valley streetP.O. BOx 1637Providence RI 02909-24996201 BP MaastrichtTel:+14012764400The netherlandsFax:+14012764408Tel:+31433566906E-mail:support(@abaqus.comFax:+31433566908http://www.abaqus.comE-mail:info.europe@abaqus.comSales, Support, and ServicesUNITED STATESABAQUS Central, IncABAQUS East LLC1440 Innovation place300 Centerville road. Suite 209WWest Lafayette, IN 47906-1000Warwick. RI 02886-0201Iel:+17654971373Tel:+14017393637Fax:+17654974444Fax:+14017393302E-mail:support(@abaqusCentral.comE-mail: support@ abaqus EastcomAbAqUS Erie. incABAQUS Great Lakes, Inc3601 Green Road. Suite 31614500 Sheldon road. Suite 160Beachwood. 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UnderriverSevenoaks, Kent tN15 OSQTel:+441732834930Fax:+441732834720E-mail: hotline(abaqus. co ukPrefaceThis section lists various resources that are available for help with using ABAQUS, including technicalengineering and systems support, training seminars, and documentationSupportABAQUS, Inc, offers both technical engineering support and systems support for ABAQUS. Technicalengineering and systems support are provided through the nearest local support office. You can contactour offices by telephone, fax, electronic mail, the ABAQUs web-based support system, or regular mailInformation on how to contact each office is listed in the front of each ABAQUS manual. The ABAQUSOnline Support System(AOSS) is accessible through the MY ABAQUS section of the ABAQUS HomePage(www.abaqus.com).Whencontactingyourlocalsupportofficespleasespecifywhetheryouwouldlike technical engineering support (you have encountered problems performing an ABAQUS analysis orcreating a model in ABAQUS) or systems support (ABAQUS will not install correctly, licensing does notwork correctly, or other hardware-related issues have arisenThe ABAQUS Online Support System has a knowledge database of ABAQUS Answers. The ABAQUSAns wers are solutions to questions that we have had to answer or guidelines on how to use ABAQUS. Wewelcome any suggestions for improvements to the support program or documentation. We will ensure thatany enhancement requests you make are considered for future releases. If you wish to file a complaint aboutthe service or products provided by aBaqUs, refer to the aBaQus Home PageTechnical engineering supportABAQUS technical support engineers can assist in clarifying ABAQUS features and checking errors by givingboth general information on using ABAQUS and information on its application to specific analyses. If youhave concerns about an analysis, we suggest that you contact us at an early stage, since it is usually easier tosolve problems at the beginning of a project rather than trying to correct an analysis at the end.Please have the following information ready before calling the technical engineering support hotline, andinclude it in any written contacts:Your site identifier, which can be obtained by typing abaqus whereami at your system prompt(or byselecting Help-On Version from the main menu bar in ABAQUS/CAE or ABAQUS/Viewer)· The version of△ BAQUS that are you usingThe version numbers for ABaQUS/Standard and ABAQUS/Explicit are given at the top of the data(. dat)fileThe version numbers for ABAQUS/CAE and ABAQUS/Viewer can be found by selectingHelp-On Version from the main menu bar.The version numbers for the abaqus Interface for MoldFLOW and the abaQus Interface forMSC ADAMS are output to the screenThe version number for ABAQUS for CAtIa V5 can be found by selecting Help-AboutABAQUS for CaTiA V5 from the main menu bar in either of the aBaqus for CAtIA V5workbenchesThe type of computer on which you are running ABAQUSThe symptoms of any problems, including the exact error messages, if anyWorkarounds or tests that you have already triedWhen calling for support about a specific problem, any available abaqus output files may be helpful inanswering questions that the support engineer may ask youThe support engineer will try to diagnose your problem from the model description and a description ofthe difficulties you are having. The support engineer may need model sketches, which can be sent via fae-mail, or regular mail. Plots of the final results or the results near the point that the analysis terminated mayalso be needed to understand what may have caused the problemIf the support engineer cannot diagnose your problem from this information, you may be asked tosupply the input data. The data can be attached to a support incident in the aBaQUS Online SupportSystem. It may also be sent by means of e-mail, tape, disk, or ftp Please check the ABAQUS Home Page(http://www.abaquscom)forthemediaformatsthatarecurrentlyacceptedAll support incidents are tracked in the abaQUs Online Support System. This enables you( as well asthe support engineer) to monitor the progress of a particular problem and to check that we are resolving supportissues efficiently. To use the ABAQUS Online Support System, you need to register with the system. Visit theMY ABAQUS Section of the ABAQUS Home Page for instructions on how to register. If you are contactingus by means outside the aoss to discuss an existing support problem and you know the incident number,please mention it so that we can consult the database to see what the latest action has been and, thus, giveyou more efficient support as well as avoid duplication of effort. In addition, please give the receptionist thesupport engineers name if contacting us via telephone or include it at the top of any e-mail correspondenceSystems supportABAQUS SyStems support engineers can help you resolve issues related to the installation and running ofABAQUS, including licensing difficulties, that are not covered by technical engineering supportYou should install ABaQUS by carefully following the instructions in the ABAQUS Installation andLicensing Guide If you are able to complete the installation, please make sure that the product verificationprocedure was run successfully at the end of the installation procedure. Successful verification for licensedproducts would indicate that you can run these products on your computer; unsuccessful verification forlicensed products indicates problems with the installation or licensing (or both ) If you encounter problemswith the installation, licensing, or verification, first review the instructions in the abaQus Installation andLicensing Guide to ensure that they have been followed correctly. If this does not resolve the problems,consult the ABAQUS Answers database in the ABaQUS Online Support System for information about knowninstallation problems. If this does not address your situation, please create an incident in the AOSS anddescribe your problem, including the output from abaqus info=support. If you call, mail, e-mail, or faxus about a problem(instead of using the Aoss), please provide the output from abaqus info=support. Itis important that you provide as much information as possible about your problem: error messages from anaborted analysis, output from the abaqus info=support command, etc
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