automotive system and software engineering with model...

Automotive System and Software Engineering with Model Based

Design

Ansys Model Based System and Software Engineering Solution1

2 Model Based Systems Engineering

Agenda

3 Model-Based Software Engineering

4 Virtual Systems Prototyping

What is a System?

EnergyStorage

PowerGeneration

Software

Actuators

Sensors Temperature

Pressure

Humidity

The EnvironmentDisturbancesUncertaintyVariabilityExtremesFailures

A system is a construct or collection of different elements that together produce results not obtainable by the elements alone. - INCOSE

Major Automotive Systems & Software Engineering Challenges

Managing System Design Complexity

Reducing Physical Hardware, Electronics and

Embedded Software

Component Costs

Optimizing Overall System Performance

A focus on Embedded Systems and Software

Managing Systems Design

Complexity

• Manage Requirements & Traceability • Manage Functional and Architectural Design• Produce Interface Control Documents (ICDs)

Optimizing Overall System Performance

• Enable Virtual Prototyping of complete systems• Optimize systems performance • Eliminate late stage integration failures • Reduce physical and hardware-in-the loop testing

Reducing Embedded Software Costs

• Reduce costs of producing Embedded Code • Reduce costs of testing Embedded Code• Reduce costs of certifying safety-critical applications

under ISO 26262

Challenges

State-of-the-Art Engineering Practices

Managing Systems Design

Complexity

Optimizing Performance & Eliminating SystemIntegration Failures

Reducing Embedded Software Costs

Model-Based Systems Engineering

Model-Based Software Development

Virtual System Prototyping

Lifecycle V-model of ISO 26262 (Part 6)

Ansys SBU Product Family

EmbeddedSystem Design

ControlSoftware Design

HMISoftware Design

Test Environment

Ansys Model Based System and Software Engineering Solution

User Requirement

System Analysis&Design

Detail Design for Different Physics

Code Generated

System Concept Verification

Verification for Different Physics

Full Virtual Prototype Simulation System V&V

Software&HardwareIntegration

Auto Sync

Auto Code GenerationSoftware Lifecycle Management



Agenda



Systems Engineering

• Objective– Design the right product/system from user needs

• Means– Successive levels of requirement and design details, from customer

high level needs to real product– Guidance: Systems V-cycle, INCOSE

• Challenges– Coexistence and collaboration of multiple engineering disciplines and

teams– Management of complexity, consistency and ambiguity at all levels of

details– Enablement of product line, variant and change management

Model-Based Systems EngineeringTypical Upper V Workflow

Detailed DesignEmbedded Software, Electronics, Physical Hardware

Functional and Architectural AnalysisModelling of functions and Architecture

Operational AnalysisModelling of operational scenarios

Requirements AnalysisManage textual requirements (Doors, Word, Excel…)

1

3

2

4

Ansys SCADE System Diagrams

Use Case

SequenceState Machine

Activity

Block Definition

Internal Block

Tables

ANSYS SCADE System

Model-Based Embedded Systems EngineeringComplete Systems Engineering environment

for Embedded Systems and Software

Requirements Analysis, Functional and Architectural Design

Supports industry and customer specific systems engineering configurability

Embedded System/Software SynchronizationModular system design and verification, automatic I/O definition synchronization, Interface Control Documents (ICD) production

and team collaboration support

ANSYS SCADE LifeCycle

Requirements TraceabilityDirect traceability between System and Software requirements (in DOORS, Word, Excel, etc..) and SCADE System, SCADE Suite &

SCADE Display models and SCADE Test suites

Automatic Documentation GenerationEnsures that System, Software, Tests & Code documentation are automatically produced …and up to date with the design

Multi-Vendor ALM/PLM SupportSeamless integration with Application & Product Lifecycle

Management, version and configuration management tools, and automated production of design metrics



Agenda



System – Software Collaboration

• System – Software Models Synchronization– Avoid duplication of efforts and inconsistencies between

system structural models and software behavioral models– System design and Software components evolve

independently– On-demand re-synchronization of interfaces

Interfaces described in SCADE System model

Software designs

ANSYS SCADE Suite

Integrated Suite for Prototyping, Modeling, Simulation, Verification, and Optimization

Efficient debugging and optimization of software models and code size, speed and performance

Certified Code GenerationAutomatic C and Ada certified code generators

(ISO 26262, IEC 61508, DO-178B/C, EN 50128) Enables 80% embedded code production and testing cost reduction

Embedded Control Software DesignEfficient modeling of controls, logic and algorithm designs

within a single environment

[…]void Button_ABC_N(inC_Button_ABC_N *inC,

outC_Button_ABC_N *outC){

/* ABC_N::Button::SM1::SSM_SM1_dispatch_sel */SSM_Button_SM1_ST SSM_SM1_dispatch_sel;

if (outC->init){

outC->init = kcg_false;SSM_SM1_dispatch_sel =

SSM_SM1_Unselected__ABC_N;}

else{

SSM_SM1_dispatch_sel = outC->M_pre_;}

switch (SSM_SM1_dispatch_sel) {case SSM_SM1_Locked__ABC_N :

outC->foreground = white_ABC_N;outC->background = green_ABC_N;if (inC->Unlock)

{outC->M_pre_ = SSM_SM1_Preselected__ABC_N;

}else

{outC->M_pre_ = SSM_SM1_Locked__ABC_N;

}break;

case SSM_SM1_WaitUnlock__ABC_N :outC->foreground = black_ABC_N;outC->background = grey_ABC_N;if (inC->Unlock)

{outC->M_pre_ = SSM_SM1_Unselected__ABC_N;

}else

{outC->M_pre_ = SSM_SM1_WaitUnlock__ABC_N;

}break;

[…]

Software Unit Design with SCADE Suite

• SCADE Suite formally defined input allows for:– Unambiguous model description– Semantics checks of the model

TÜV SÜD ISO 26262 Qualification

• TÜV SÜD has qualified SCADE Suite Code Generator for ISO 26262 for use up to the highest safety level (ASIL D)

• This enables to eliminate the software low level testing to verify that the code is correct relative to the model

AUTOSAR RTE Wrapper

SCADE – AUTOSAR Capabilities

AUTOSAR ARXMLArchitecture File

Control Software design

SCADE Suite generated code

Any AUTOSAR operating system

Import/Export

Synchro

Generation

Code integration

System Design Refinement& Model Verification

17.2

ASAP2 Code Generation

• The SCADE Suite ASAP2 Extension generates:– The proper ASAP2 file defining the

characteristics– A header for sensors declarations– A C file for the values

ANSYS SCADE Suite @ Subaru

• Program/Application– Electric Vehicle Engine Controls

• Vehicle dynamics• Engine functions• Vehicle energy consumption

(Heating & air conditioning, Breaking, Body controls)

• Battery load management• Key Results

– Subaru was able to describe consistent readable models ranging from safe architecture design to detailed designs

– Thanks to SCADE Suite’s KCG IEC 61508 certified code generator, the verification time at code level was significantly reduced

“By using SCADE, SUBARUengineers completed a large andvery complex application whilesignificantly reducing softwaredevelopment and testing time.”

Masaru KURIHARADeputy General Manager,

Electronics Engineering Department,Fuji Heavy Industries Ltd.

ANSYS SCADE Display

HMI Software DesignEfficient modeling of HMI designs

featuring an integrated environment with logic design

Complete GUI Prototyping, Modeling, Simulation, Verification, and Optimization

Rapid prototyping, model checking and debugging, simulation, integration with graphics platforms and human factors optimization

Certified Code GenerationAutomatic certified code generator

(DO-178B/C, EN 50128, ISO 26262, IEC 61508)Enables 80% embedded code production and testing cost

reductionPC, Android, Apple iOS and

critical/rugged embedded graphics platforms

SCADE Displayfor Tactile Automotive Infotainment

Automotive tactile/interactive infotainment HMI demo model developed with SCADE Display, for Android & iOS

SCADE Display @ DLR Automotive

• Program/Application– Traffic Information System Simulator

• Simulation environment for interactive driving

• Haptic components with force feedback (steering, pedals, side stick)

• Several interfaces for integration of real electronic control units (e.g. CAN)

• Interfaces for psychological evaluation methods

• Key Results– Flexible HMI design by the use of free

configurable displays– Ideal environment for rapid prototyping– Easy creation of typical automotive elements (e.g.

scales)– Bitmap import from Photoshop

• Integrated Co-simulation and Debug capabilities– Simulate Control and Display parts at the same time, with step-by-step, scenario management, etc…– Use same code generators as for production reliability

• Integrated Production Code Generation– Tight integration of generated code ensures optimal performance– Benefit from SCADE Suite Simulator capabilities (step-by-step / continuous modes, scenario management,

graphical debugging, etc.)– Relies on generated code for both SCADE Suite & SCADE Display– Simulate / Debug SCADE Suite & SCADE Display models at the same time– Tight integration of generated code ensures optimal simulation performance

HMI/ Behavioral Integration…at Any Levels

SCADE Suite Simulator(execution of generated code)

SCADE Display Model(s)(execution of generated code)

ANSYS SCADE Test

Interactive Test Creation and Rapid Prototyping

Efficient environment to create requirements-based test suites and run interactive software simulation

Automated Tests Execution of Software Models on development platform with

Automated Model Coverage acquisitionEnsures 100% confidence in software test suites

Automated Tests Execution of Generated Software Code on any Hardware Target

Fully automated reuse of validated software test suites on processor target (includes drivers for LDRA, RTRT & VectorCAST)



Agenda



ANSYS Simplorer

A Comprehensive platform for modeling, simulating, and analyzing virtual system prototypes

Spans electrical, electronics, mechanical, thermo-fluids, and embedded software systems

Leader in simulation for power electronics and electrical systems

Rich modeling libraries and design automation designed especially for high-performance power electronics and electromechanical simulation

3-D Precision When You Need ItCosimulation with 3-D solvers and reduced-order modeling (ROM) captures complex multi-physics interactions when

precise system verification is required

Open Integration of existing toolsFull VHDL AMS, Spice and FMI compliance enables embracing and extending existing tools and libraries

(Modelica and other FMI-compliant tools)

When is System Simulation Useful?

At the start of the design process• Early Architectural Tradeoffs• “Simulation-in-the-loop” for predictive studies• Pre-Sales / Collaboration toolDuring the design process• Embedded Control Algorithm Design / Tuning• System Verification / Validation • Virtual Integration Platform At the end of the design process• System Performance Optimization• Robust DesignAfter the design process has been completed• Maintenance (predictive maintenance)• Simulation Model embedded with controls (adaptive controls)

Electric Vehicle Powertrain example

Key Business Drivers• System Cost• Reliability / Warranty• Package Size• Energy Efficiency• Safety Integrity• Drive Quality

Electric Vehicle Powertrain Key Components

Power Source

Power Electronics(Inverter)

Mechanical Dynamics & Loads

Power CablesEmbedded Control

Traction Motor

0

00 0

PMSM_DQn1

n2

n3

m1

SIMPARAM1

L1

L2

L3

N1

N2

N3

I1 I3

I_Motor

-~P

N

V

U

W

V1 V2 V3 V4 V5 V6

U1E1

V

A B C

N

U_UMR

PWMModulator

DC-LinkVoltage

IntegratingCurrentSampling

MechanicalAngle Input

u1u2

Udc

u3

V1V2V3V4V5V6

I_1

I_3

I1f

I3f

phi_m

phi_el

w_el

FPGA

PWM_3PH1

+V

VM1

+

FSM_ROTB1

A B C

N

U_MOT

L1

L2

L3

N1

N2

N3

S_Motor

CTRL=S1

OFF

SET: S1:=0

Time >= Tsw ON

SET: S1:=1

MASS_ROTB1

A

AM4

C1

C2

R1

R2

R3 L1

TF_ROTB1

w_ref

phi_el

i1f

i3f

w_el

u1u2u3

n_ref

TDELAY=5msAMPL=n_ref-n0TRISE=300msOFF=n0

Load_Torque

TDELAY=t_loadAMPL=trq_load

TRISE=20msOFF=0

Electric Vehicle Powertrain As a System Model

Power Source

Power Electronics:Inverter

Traction Motor(PMSM)

MechanicalDynamics & Loads

Power Cables

Embedded Control

Fidelity

Detail

Modeling the EV SystemPower Source

Basic EquivalentCircuit

Equivalent Circuit Model+ CFD ROM

VHDL-AMSBehavioral Model

Fidelity

Detail

Modeling the EV SystemPower Electronics: Inverter

State-AveragedController

3-phase Inverter withIdeal IGBTs

3-phase Inverter withDynamic Thermal IGBTs

Fidelity

Detail

Modeling the EV SystemTraction Motor


Electric CircuitEquivalent ROM

Co-simulationwith 2D/3D FEM

Fidelity

Detail

Modeling the EV SystemPower Cables

Ideal Connections

S-Parameter ROMfor Distributed Tx Lines

Lumped ElementLossless Model

Fidelity

Detail

Modeling the EV SystemEmbedded Control

Ideal Control Blocks Generated ControlApplication Code

Fidelity

Detail

Modeling the EV SystemMechanical Dynamics

Lumped ElementMechanical Effects

Mechanical ROM ofFlexible Shaft

0

00 0

PMSM_DQn1

n2

n3

m1

SIMPARAM1

L1

L2

L3

N1

N2

N3

I1 I3

I_Motor

-~P

N

V

U

W

V1 V2 V3 V4 V5 V6

U1E1

V

A B C

N

U_UMR

PWMModulator

DC-LinkVoltage



u1u2

Udc

u3

V1V2V3V4V5V6

I_1

I_3

I1f

I3f

phi_m

phi_el

w_el

FPGA

PWM_3PH1

+V

VM1

+

FSM_ROTB1

A B C

N

U_MOT

L1

L2

L3

N1

N2

N3

S_Motor

CTRL=S1

OFF

SET: S1:=0

Time >= Tsw ON

SET: S1:=1

MASS_ROTB1

A

AM4

C1

C2

R1

R2

R3 L1

TF_ROTB1

w_ref

phi_el

i1f

i3f

w_el

u1u2u3

n_ref


Load_Torque


TRISE=20msOFF=0

Assembling & Analyzing the SystemGoal: Evaluate System Architecture, Size Key Components

Power Source


Permanent MagnetSynchronous Motor


Power Cables

Embedded Control

Fide

lity


0

00 0

PMSM_DQn1

n2

n3

m1

SIMPARAM1

L1

L2

L3

N1

N2

N3

I1 I3

I_Motor

-~P

N

V

U

W

V1 V2 V3 V4 V5 V6

U1E1

V

A B C

N

U_UMR

PWMModulator

DC-LinkVoltage



u1u2

Udc

u3

V1V2V3V4V5V6

I_1

I_3

I1f

I3f

phi_m

phi_el

w_el

FPGA

PWM_3PH1

+V

VM1

+

FSM_ROTB1

A B C

N

U_MOT

L1

L2

L3

N1

N2

N3

S_Motor

CTRL=S1

OFF

SET: S1:=0

Time >= Tsw ON

SET: S1:=1

MASS_ROTB1

A

AM4

C1

C2

R1

R2

R3 L1

TF_ROTB1

w_ref

phi_el

i1f

i3f

w_el

u1u2u3

n_ref


Load_Torque


TRISE=20msOFF=0

Assembling & Analyzing the SystemGoal: Characterize Motor Losses

Power Source




Power Cables

Embedded Control

Fide

lity

Co-simulationwith 2D/3D FEM

0

00 0

PMSM_DQn1

n2

n3

m1

SIMPARAM1

L1

L2

L3

N1

N2

N3

I1 I3

I_Motor

-~P

N

V

U

W

V1 V2 V3 V4 V5 V6

U1E1

V

A B C

N

U_UMR

PWMModulator

DC-LinkVoltage



u1u2

Udc

u3

V1V2V3V4V5V6

I_1

I_3

I1f

I3f

phi_m

phi_el

w_el

FPGA

PWM_3PH1

+V

VM1

+

FSM_ROTB1

A B C

N

U_MOT

L1

L2

L3

N1

N2

N3

S_Motor

CTRL=S1

OFF

SET: S1:=0

Time >= Tsw ON

SET: S1:=1

MASS_ROTB1

A

AM4

C1

C2

R1

R2

R3 L1

TF_ROTB1

w_ref

phi_el

i1f

i3f

w_el

u1u2u3

n_ref


Load_Torque


TRISE=20msOFF=0

Assembling & Analyzing the SystemGoal: EMC Prediction

Power Source




Power Cables

Embedded Control

Fide

lity

Fide

lity

S-Parameter ROMfor Distributed Lines

3-phase Inverter withDynamic Thermal IGBTs

0

00 0

PMSM_DQn1

n2

n3

m1

SIMPARAM1

L1

L2

L3

N1

N2

N3

I1 I3

I_Motor

-~P

N

V

U

W

V1 V2 V3 V4 V5 V6

U1E1

V

A B C

N

U_UMR

PWMModulator

DC-LinkVoltage



u1u2

Udc

u3

V1V2V3V4V5V6

I_1

I_3

I1f

I3f

phi_m

phi_el

w_el

FPGA

PWM_3PH1

+V

VM1

+

FSM_ROTB1

A B C

N

U_MOT

L1

L2

L3

N1

N2

N3

S_Motor

CTRL=S1

OFF

SET: S1:=0

Time >= Tsw ON

SET: S1:=1

MASS_ROTB1

A

AM4

C1

C2

R1

R2

R3 L1

TF_ROTB1

w_ref

phi_el

i1f

i3f

w_el

u1u2u3

n_ref


Load_Torque


TRISE=20msOFF=0

Assembling & Analyzing the SystemGoal: MiL, SiL Testing / Calibration & Tuning

Power Source




Power Cables

Embedded Control

Fide

lity

Generated ControlApplication Code

Our Vision: a Fully Virtual Automobile Prototype

Infotainment andKeyless Entry

Battery andCharging

Radar

Brakes andSensors

ECU and EmbeddedSoftware

Electric Drivetrain andIC Engine

Suspension

Efficiency

Drive Cycle

NVH

EMI/EMC/Antenna

Braking

Thermal and Stress

External Aero

Electric Powertrain

ADAS

Infotainment

Engineering Benefits• Simplorer enables assembly of complete virtual system prototypes

– High level of interoperability with tools, model reuse, and support for standards (VHDL-AMS, Spice, Modelica, C, C++..)

– Unique connections to ANSYS 3D physics and embedded software

• Simplorer enables more comprehensive system testing– Evaluate architectures, select components and tune parameters

to achieve optimal system performance– Identify problems between hardware and software components

earlier– Create virtual test rigs to evaluate system compliance with

performance standards– Simulate 1000s of virtual prototypes to analyze system

robustness and reliability

Economical Benefits

• Simplorer Enables system prototyping and testing cost reductions– Replaces physical prototyping/test equipment with

virtual systems– Model reuse and automation increase efficiency of

system testing

谢谢!