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xuang

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2023/04/17阅读：34主题：雁栖湖

周报0416-3

Week Summary

2023-0416-向荣辉

湖南省长沙市三一重工

目录

Part1

1主要工作内容

项目任务书以及协议书修改

第一次修改

  • 添加联合揭榜丙方
  • 修改支付条款
  • 添加项目参与人员

更改无丙方备用版本

  • 协议书修改
  • 项目书修改

坡度估计模块算法离线测试

  • 测试方法
  • 测试结果

Part2

2项目任务书以及协议书修改

第一次修改

添加联合丙方

添加联合揭榜单位
添加联合揭榜单位

应三一要求在项目书任务签订处添加玉柴芯蓝联合揭榜单位

修改支付条款

支付条款
支付条款

新增了丙方单位的拨款占比，研究院占比70%，玉柴占比30%，注意到任务书里面的支付时间是“签订当年”而不是“任务书签订时”。

添加项目参与人员

项目参与人员 额外添加了解教授为该项目的参与人员

更改无玉柴参与版本

应三一要求准备一版无玉柴芯蓝参与的版本，在无联合丙方版本中，研究院接受全部款项和全部研发任务，玉柴那边儿可能会谈不拢，盖工叫我准备一个没有联合揭榜方的版本，修改的版本我放到附件。

Part3

3坡度估计模块离线测试

测试方法

导入师兄之前的Rawdata，利用查表的方式进行离线仿真测试，加载了test0721_1.mat数据，对连续转弯工况进行了离线测试。

数据加载与仿真脚本修改如下:

clear;
constant;
simulation = 1;
version = 724;
%% 模型输入信号
add_EQSC_Signal('Accel_X_val_data','int16','ImportedExtern',0,'');
add_EQSC_Signal('Accel_Y_val_data','int16','ImportedExtern',0,'');
add_EQSC_Signal('Accel_Z_val_data','int16','ImportedExtern',0,'');
add_EQSC_Signal('Gyro_X_val_data','int16','ImportedExtern',0,'');
add_EQSC_Signal('Gyro_Y_val_data','int16','ImportedExtern',0,'');
add_EQSC_Signal('Gyro_Z_val_data','int16','ImportedExtern',0,'');
add_EQSC_Signal('ipdd_v_vehicleSpeed_kph','single','ImportedExtern',0,'');
add_EQSC_Signal('EWTS5G_lld_gyro_scale_sel_C','uint16','ImportedExtern',0,'');
add_EQSC_Signal('TS1_CurrentGear','uint8','ImportedExtern',0,'');

%% 模型测量信号
add_EQSC_Signal('ax_corr','single','MEMSEC_OEM_MES (Custom)',0,'');
add_EQSC_Signal('ax_corr_input','single','MEMSEC_OEM_MES (Custom)',0,'');
add_EQSC_Signal('ax_filter','single','MEMSEC_OEM_MES (Custom)',0,'');
add_EQSC_Signal('axErr','single','MEMSEC_OEM_MES (Custom)',0,'');
add_EQSC_Signal('axFilter','single','MEMSEC_OEM_MES (Custom)',0,'');
add_EQSC_Signal('AxGrad_LL','single','MEMSEC_OEM_MES (Custom)',0,'');
add_EQSC_Signal('AxGrad_LU','single','MEMSEC_OEM_MES (Custom)',0,'');

add_EQSC_Signal('axGradLimit','single','MEMSEC_OEM_MES (Custom)',0,'');
add_EQSC_Signal('ay_corr_input','single','MEMSEC_OEM_MES (Custom)',0,'');
add_EQSC_Signal('az_corr_input','single','MEMSEC_OEM_MES (Custom)',0,'');

add_EQSC_Signal('g','single','MEMSEC_OEM_MES (Custom)',0,'');
add_EQSC_Signal('GradMargin','single','MEMSEC_OEM_MES (Custom)',0,'');
add_EQSC_Signal('Gy1000ms_Modify','single','MEMSEC_OEM_MES (Custom)',0,'');
add_EQSC_Signal('Gy1000ms_Out','single','MEMSEC_OEM_MES (Custom)',0,'');
add_EQSC_Signal('Gy1000ms_Raw','single','MEMSEC_OEM_MES (Custom)',0,'');
add_EQSC_Signal('gy_bias','single','MEMSEC_OEM_MES (Custom)',0,'');
add_EQSC_Signal('gy_modify','single','MEMSEC_OEM_MES (Custom)',0,'');
add_EQSC_Signal('gyro_scale','single','MEMSEC_OEM_MES (Custom)',0,'');
add_EQSC_Signal('gyro_X_input','single','MEMSEC_OEM_MES (Custom)',0,'');
add_EQSC_Signal('gyro_Y_input','single','MEMSEC_OEM_MES (Custom)',0,'');
add_EQSC_Signal('gyro_Z_input','single','MEMSEC_OEM_MES (Custom)',0,'');
add_EQSC_Signal('gyro_Y_modify','single','MEMSEC_OEM_MES (Custom)',0,'');
add_EQSC_Signal('kalman_Angle','single','MEMSEC_OEM_MES (Custom)',0,'');
add_EQSC_Signal('kalman_Est','single','MEMSEC_OEM_MES (Custom)',0,'');
add_EQSC_Signal('kalman_K','single','MEMSEC_OEM_MES (Custom)',0,'');
add_EQSC_Signal('kalman_Mea','single','MEMSEC_OEM_MES (Custom)',0,'');
add_EQSC_Signal('RampConstant_b','single','MEMSEC_OEM_MES (Custom)',0,'');

add_EQSC_Signal('Slope_Integ','single','MEMSEC_OEM_MES (Custom)',0,'');
add_EQSC_Signal('Slope_Kalman','single','MEMSEC_OEM_MES (Custom)',0,'');
add_EQSC_Signal('Slope_Result','single','MEMSEC_OEM_MES (Custom)',0,'');
add_EQSC_Signal('Slope_Z','single','MEMSEC_OEM_MES (Custom)',0,'');
add_EQSC_Signal('Slope_ZAx','single','MEMSEC_OEM_MES (Custom)',0,'');
add_EQSC_Signal('ZAx_Angle','single','MEMSEC_OEM_MES (Custom)',0,'');
add_EQSC_Signal('Straight_b','int8','MEMSEC_OEM_MES (Custom)',0,'');
add_EQSC_Signal('Uphilling_b','int8','MEMSEC_OEM_MES (Custom)',0,'');       
add_EQSC_Signal('Downhilling_b','int8','MEMSEC_OEM_MES (Custom)',0,'');
add_EQSC_Signal('version_num','single','MEMSEC_OEM_MES (Custom)',0,'');   % 软件版本号


%% 关键开关配置量
add_EQSC_Param('VehAccCompensation_b','boolean','MEMSEC_OEM_CAL (Custom)',1,'');
add_EQSC_Param('GyBiasOff_b','boolean','MEMSEC_OEM_CAL (Custom)',1,'');
add_EQSC_Param('GzGyCompensation_b','boolean','MEMSEC_OEM_CAL (Custom)',1,'');
add_EQSC_Param('AngleZAx_b','boolean','MEMSEC_OEM_CAL (Custom)',0,'');

%% 标定参数
add_EQSC_Param('accX_sign','int8','MEMSEC_OEM_CAL (Custom)',-1,'');
add_EQSC_Param('accY_sign','int8','MEMSEC_OEM_CAL (Custom)',1,'');
add_EQSC_Param('accZ_sign','single','MEMSEC_OEM_CAL (Custom)',0.8,'');

add_EQSC_Param('angle_corr_X','single','MEMSEC_OEM_CAL (Custom)',0,'');
add_EQSC_Param('angle_corr_Y','single','MEMSEC_OEM_CAL (Custom)',0,'');
add_EQSC_Param('angle_corr_Z','single','MEMSEC_OEM_CAL (Custom)',0,'');


add_EQSC_Param('AngleRampConstThres','single','MEMSEC_OEM_CAL (Custom)',1,'');

add_EQSC_Param('AxGradLowerLimit','single','MEMSEC_OEM_CAL (Custom)',-0.15,'');
add_EQSC_Param('AxGradLowerLimitErr','single','MEMSEC_OEM_CAL (Custom)',-1e-05,'');
add_EQSC_Param('AxGradLowerLimitMd','single','MEMSEC_OEM_CAL (Custom)',-0.001,'');
add_EQSC_Param('AxGradUpperLimit','single','MEMSEC_OEM_CAL (Custom)',0.15,'');
add_EQSC_Param('AxGradUpperLimitErr','single','MEMSEC_OEM_CAL (Custom)',1e-05,'');
add_EQSC_Param('AxGradUpperLimitMd','single','MEMSEC_OEM_CAL (Custom)',0.001,'');
add_EQSC_Param('AxLowerLimit','single','MEMSEC_OEM_CAL (Custom)',-0.2,'');
add_EQSC_Param('AxMutation','single','MEMSEC_OEM_CAL (Custom)',0.05,'');
add_EQSC_Param('AxUpperLimit','single','MEMSEC_OEM_CAL (Custom)',0.2,'');

add_EQSC_Param('AyGradUpperlimit','single','MEMSEC_OEM_CAL (Custom)',0.001,'');
add_EQSC_Param('AyGradLowerlimit','single','MEMSEC_OEM_CAL (Custom)',-0.001,'');
add_EQSC_Param('AyUpperLimit','single','MEMSEC_OEM_CAL (Custom)',0.1,'');

add_EQSC_Param('AzGradUpperlimit','single','MEMSEC_OEM_CAL (Custom)',1,'');
add_EQSC_Param('AzGradLowerlimit','single','MEMSEC_OEM_CAL (Custom)',-1,'');
add_EQSC_Param('AzLowerLimit','single','MEMSEC_OEM_CAL (Custom)',0.707,'');
add_EQSC_Param('AzUpperLimit','single','MEMSEC_OEM_CAL (Custom)',1,'');
add_EQSC_Param('Coff_Gy1000msFilter','single','MEMSEC_OEM_CAL (Custom)',0.9,'');
add_EQSC_Param('DeltaAx','single','MEMSEC_OEM_CAL (Custom)',0.05,'');
add_EQSC_Param('DeltG','single','MEMSEC_OEM_CAL (Custom)',0.05,'');
add_EQSC_Param('DeltSinSinFlter','single','MEMSEC_OEM_CAL (Custom)',3,'');
add_EQSC_Param('dt','single','MEMSEC_OEM_CAL (Custom)',0.01,'');
add_EQSC_Param('GradMargin_L','single','MEMSEC_OEM_CAL (Custom)',-0.05,'');
add_EQSC_Param('GradMargin_M','single','MEMSEC_OEM_CAL (Custom)',-0.02,'');
add_EQSC_Param('GradMargin_S','single','MEMSEC_OEM_CAL (Custom)',-0.01,'');
add_EQSC_Param('AxGrLimDown','single','MEMSEC_OEM_CAL (Custom)',-0.2,'');
add_EQSC_Param('AxGrLimUp','single','MEMSEC_OEM_CAL (Custom)',0.2,'');

add_EQSC_Param('AxAngleRawFilterDelay','single','MEMSEC_OEM_CAL (Custom)',1,'');

add_EQSC_Param('Gy1000msModifyDelay','single','MEMSEC_OEM_CAL (Custom)',1,'');
add_EQSC_Param('Gy1000msRampConstThres','single','MEMSEC_OEM_CAL (Custom)',1,'');
add_EQSC_Param('GyGzCorrCoff','single','MEMSEC_OEM_CAL (Custom)',0.07,'');
add_EQSC_Param('gyModifyDamping','single','MEMSEC_OEM_CAL (Custom)',0.2,'');
add_EQSC_Param('gyroX_sign','int8','MEMSEC_OEM_CAL (Custom)',1,'');
add_EQSC_Param('gyroY_sign','int8','MEMSEC_OEM_CAL (Custom)',-1,'');
add_EQSC_Param('gyroZ_sign','int8','MEMSEC_OEM_CAL (Custom)',-1,'');
add_EQSC_Param('Gz1000msGyModifyThres','single','MEMSEC_OEM_CAL (Custom)',2,'');
add_EQSC_Param('Gz1000msStraightThres','single','MEMSEC_OEM_CAL (Custom)',4,'');
add_EQSC_Param('IncR','single','MEMSEC_OEM_CAL (Custom)',15,'');
add_EQSC_Param('InitialTime','single','MEMSEC_OEM_CAL (Custom)',0.5,'');
add_EQSC_Param('SteerAngleHighThres','single','MEMSEC_OEM_CAL (Custom)',5,'');
add_EQSC_Param('SteerAngleThres','single','MEMSEC_OEM_CAL (Custom)',2,'');
add_EQSC_Param('Zerodrift','single','MEMSEC_OEM_CAL (Custom)',0.3,'');
add_EQSC_Param('StoppingVelocity','single','MEMSEC_OEM_CAL (Custom)',0.5,'');
add_EQSC_Param('MovingVelocity','single','MEMSEC_OEM_CAL (Custom)',1,'');
add_EQSC_Param('alpha','single','MEMSEC_OEM_CAL (Custom)',0.8,'');
add_EQSC_Param('AccFlagDelay','single','MEMSEC_OEM_CAL (Custom)',0.2,'sec');
add_EQSC_Param('DecFlagDelay','single','MEMSEC_OEM_CAL (Custom)',0.2,'sec');
add_EQSC_Param('StatWidth','single','MEMSEC_OEM_CAL (Custom)',0.5000,'');
% add_EQSC_Param('Velocity_StandStill','single','MEMSEC_OEM_CAL (Custom)',0.5,'');
add_EQSC_Param('VehAcc_Acc','single','MEMSEC_OEM_CAL (Custom)',0.02,'');
add_EQSC_Param('VehAcc_Dec','single','MEMSEC_OEM_CAL (Custom)',-0.02,'');
add_EQSC_Param('Velocity_DiffSmoothV','single','MEMSEC_OEM_CAL (Custom)',0.1,'');
add_EQSC_Param('Velocity_DiffSmoothAx','single','MEMSEC_OEM_CAL (Custom)',0.02,'');
add_EQSC_Param('Velocity_MoveSmoothV','single','MEMSEC_OEM_CAL (Custom)',2.5,'');
add_EQSC_Param('Coff_ZAxKalman','single','MEMSEC_OEM_CAL (Custom)',0.995,'');
add_EQSC_Param('Gy1000msDownhilling','single','MEMSEC_OEM_CAL (Custom)',-0.5,'deg');
add_EQSC_Param('Gy1000msUphilling','single','MEMSEC_OEM_CAL (Custom)',0.5,'deg');
add_EQSC_Param('AxErr_AxLimitReset','single','MEMSEC_OEM_CAL (Custom)',0.1,'');
% GyGzCorrCoffCalc
add_EQSC_Param('GyGzCorrCoff_GzLow','single','MEMSEC_OEM_CAL (Custom)',2,'');
add_EQSC_Param('GyGzCorrCoff_GzHigh','single','MEMSEC_OEM_CAL (Custom)',10,'');
add_EQSC_Param('UpOrDownhillingDelay','single','MEMSEC_OEM_CAL (Custom)',1,'');
add_EQSC_Param('StateEnabledDelay','single','MEMSEC_OEM_CAL (Custom)',0.2,'');
add_EQSC_Param('TurningStateEnabledDelay','single','MEMSEC_OEM_CAL (Custom)',3,'');

EQ_CfgModAndSetStorageClass;

if simulation == 1

  load('test0721_1.mat');

  data_input_mat;
end

测试结果

连续转弯工况下的原始输入信号
连续转弯工况下的原始输入信号
连续转弯工况下的车速信号
连续转弯工况下的车速信号
连续转弯工况下的坡度估计输出
连续转弯工况下的坡度估计输出

分类：

后端

标签：

软件测试

作者介绍

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xuang
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