As part of an EU-founded research project, the Scilab based development tool LoRra (Low-Cost Rapid Control Prototyping Platform) was created. This allows the realization of the continuously model based and highly automated Rapid Control Prototyping (RCP) design process for embedded software within the Scilab / Xcos environment (cf. Figure 1). Based on the application battery management system (BMS), this paper presents a Real-Time interface for Scilab.

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A Real-Time Interface for Xcos
Demonstrated on a battery management system
Sven Jacobitz, Ostfalia University of Applied Sciences
Scilab Conference 2019

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Agenda
• Introduction
• Requirements to the RTI
• Concept of the RTI
• Realization of the RTI
• Verification and application
• Kalman Filter design for SoC estimation
• Verification by online simulation
• Summary and outlook

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Project LoCoRCP
Introduction
04/2014 – 09/2014 Feasibility study towards a Low-Cost RCP system with open-source platform for
developing battery management systems
01/2017 – 12/2019 Low-Cost Rapid Control Prototyping system with open source platform for
functional development of embedded mechatronic systems (LoCoRCP)

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Concept of the Low-Cost RCP Platform (LoRra)
Introduction

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Requirements to the RTI
• Basic-blocks for controlling the hardware interfaces
• Automated programming of the target hardware
• Generation of efficient C-code
• Generation and configuration of the real-time application
• Compiling, Linking, …
• Programming the hardware
• Modular structure
• Flexibility
• Extensibility

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Overall concept
Concept of the RTI
• Generating code fragments from the model
• Linking fragments, code templates and basic software
• Call the compiler and linker
• Programm the target hardware

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Software structure of the real-time application
Concept of the RTI
Reference: CMSIS – Arm Developer

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Realization of the RTI
• Written in Scilab Language
• Controlling hardware peripherals using basic blocks
• Basic blocs as sci function:
[code_fragments] = foo(blkID, topology_struct)
• Fist implementation: STM32F7
• Basis software generated by STM32CubeMX
• Using FreeRTOS as operating system

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BMS test bench for verification

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Kalman Filter design for SoC estimation – modelling the battery
Verification and application
Equivalent circuit model
Validation of the battery model using the DST power cycle

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Kalman Filter design for SoC estimation – functional design
Verification and application
Discrete EKF with continuous system model

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Kalman Filter design for SoC estimation – MiL-Simulation
Verification and application
Validation of the EKF using the MiL simulation
0 0.2 0.4
80
85
90
95
100
105
SoCin%
Time in s

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Composition of the online simulation
Verification and application

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Verification by online simulation
Verification and application

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Summary and outlook
Summary
• LoRra approach for continuously model based design
• Real-Time Interface between Xcos model an real-time application
• Comfortable linking hardware interfaces to the model
• Automated implementation of generated code
• Extendable functionality and flexible target hardware
• Verification by means of a BMS Function
Outlook
• Graphical user interface for measurement and calibration
• LoRra Scilab Toolbox in Atoms

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Thank you