model based design at cnhi - mathworks€¦ · june 11th, 2015 model-based design at cnhi 7...
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Contains confidential proprietary and trade secrets information of CNH Industrial. Any use of this work without express written consent is strictly prohibited.
June 11th, 2015
Model based design at CNHiThe transition to full model based implementations
Carlo Cloet – Karel Viaene, CNHi Zedelgem
MathWorks Benelux user’s conference
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Model-based design at CNHiJune 11th, 2015 2
CNHi is adopting an end-to-end model-based development strategy
Model based design is a key enabler for developing innovative functionalities
Key Takeaways
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Model-based design at CNHiJune 11th, 2015
CNH IndustrialOur Products
Trucks Buses Firefighting Equipment
Crawler Excavators CombinesTractorsEngines
and TransmissionsSkid Steer Loaders
3
Civil Protection and
Defence Vehicles
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Model-based design at CNHiJune 11th, 2015
CNH IndustrialCompany Structure
&
Construction
Equipment
Commercial Vehicles
Agricultural
EquipmentPowertrain
Financial
Services
4
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Model-based design at CNHiJune 11th, 2015
CNH IndustrialKey Figures (31 Dec 2014)
1company
12brands
49R&D Centers
64plants
190national markets
69,207employees
6,100individuals dedicated to innovation
7,518active patents owned
$ 1,106million invested in R&D
$ 6million invested
in training
$ 708million net income
$ 32,555million revenues
$ 8,857million total
available liquidity
5Note: all figures provided herein are on a US GAAP $ basis unless otherwise indicated
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Model-based design at CNHiJune 11th, 2015 6
Model based design at CNHi (Zedelgem)+10 years of model-based design experience
Grape Harvester Drivetrain
Baler application logicBaler HIL Testing
Display
Logic Combine header height control
Hydro-pneumatic suspension
Feedrate control
Forage harvester automated filling Sugar Cane Harvester Drivetrain
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Objective: convert combine legacy C code to a full model-based implementation
• Simplify transfer from innovation to product development
• Avoid manual integration work
• Consolidate legacy code base
• Increase level of abstraction
• Leverage MIL capability (test early, test often),
rapid prototyping, etc
Innovation Challenges and AchievementsTransitioning to a complete model-based implementation
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3 major challenges:
• System integration
• Team based development
• Functional implementation and validation
How did we get there and leverage MathWorks?
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How to integrate 100’s of models into a functioning vehicle?
Key enablers: AUTOSAR architecture + Simulink built-in AUTOSAR support
How did we get there and leverage MathWorks?Challenge 1: System Integration
Source: http://www.autosar.org/about/technical-overview/
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Model-based design at CNHiJune 11th, 2015 10
Example subsystem: sieve control logic
How did we get there and leverage MathWorks?Challenge 1: System Integration
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Model-based design at CNHiJune 11th, 2015 11
Additional integration challenges
How did we get there and leverage MathWorks?Challenge 1: System Integration
Same functionality,
different hardware
Same functionality,
multiple instances
Upper Sieve
Lower Sieve
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Approach: component based architecture
How did we get there and leverage MathWorks?Challenge 1: System Integration
Application SWCs
Sensor SWCs
Actuator SWCs
Application SWC re-use
by use of engineering unit interfaces
ActuatorCLUS
Sensor
Sensor
CLUSActuatorSensor
Multi-instance support
via Simulink library implementation
CLUS
CLLS
CLS
CLS
CLS
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How to enable concurrent model development by multiple people?
Key enabler: Simulink data dictionary feature (introduced in R2014a)
How did we get there and leverage MathWorks?Challenge 2: Team based development
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Using references to “public” data dictionaries to obtain input signal definitions
• Public data dictionaries establish contracts among otherwise independent developers
How did we get there and leverage MathWorks?Challenge 2: Team based development
SWC1.sldd
SWC1.slx
SWC1_public.sldd
SWC1_private.sldd
CNH.sldd
SWC2.sldd
SWC2.slx
SWC2_public.sldd
SWC2_private.sldd
CNH.sldd
mySWC.sldd
mySWC.slx
mySWC_public.sldd
mySWC_private.sldd
CNH.sldd
SWC1_public.sldd
SWC2_public.sldd
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Model-based design at CNHiJune 11th, 2015 15
Intellifill on Forage harvester
• Forage harvester operation
• Automated trailer filling
3D camera
https://www.youtube.com/watch?v=-zaQnygsMuQ
• Why automation
• Challenges
How did we get there and leverage MathWorks?Challenge 3: Functional implementation and validation
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Intellifill on Forage harvester
• Forage harvester operation
• Automated trailer filling
3D camera
https://www.youtube.com/watch?v=-zaQnygsMuQ
• Why automation
• Challenges
How did we get there and leverage MathWorks?Challenge 3: Functional implementation and validation
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Model-based design at CNHiJune 11th, 201518
How did we get there and leverage MathWorks?Challenge 3: Functional implementation and validation
Develo
pm
ent
Inte
gra
tion
Va
lida
tio
n
Software architecture and algorithm development through
closed loop MIL simulation
3D camera image
3D scene simulator
Control
outputs
Testing
Debugging
Simulation
Code generation
Verification
Validation
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How did we get there and leverage MathWorks?Challenge 3: Functional implementation and validation
Develo
pm
ent
Inte
gra
tion
Va
lida
tio
n
Software architecture and algorithm development through
closed loop MIL simulation
3D camera image
3D scene simulator
Control
outputs
Testing
Debugging
Simulation
Code generation
Verification
Validation
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Model-based design at CNHiJune 11th, 2015 21
On vehicle testing, debugging and fine-tuning in
simulink environment
How did we get there and leverage MathWorks?Challenge 3: Functional implementation and validation
Code generation
Verification
Validation
Develo
pm
ent
Inte
gra
tion
Va
lida
tio
n
Image processing
& controls
ICTCAN
• User input
• Visualisation
VNT
Simulation
Testing
Debugging
Embedded platform: MPC5121e
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Model-based design at CNHiJune 11th, 2015 22
Integration in Vehicle display controller with embedded
coder
How did we get there and leverage MathWorks?Challenge 3: Functional implementation and validation
Simulation
Code generation
Testing
DebuggingDevelo
pm
ent
Inte
gra
tion
Va
lida
tio
n
Monitoring
CAN
• User input
• Visualisation
• Image processing
& controls
VNT
Embedded coder
Validation
Embedded platform: MPC5121e
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Model-based design at CNHiJune 11th, 2015 23
CNHi is adopting an end-to-end model-based development strategy
• Enabler 1: Simulink built-in AUTOSAR support
• Enabler 2: Simulink datadictionary feature
Model based design is a key enabler for developing innovative functionalities
• Enabler 1: MIL simulation: Closed loop simulation with 3D scene simulator
• Enabler 2: Rapid Prototyping: Instrument control toolbox & Vehicle network toolbox
• Enabler 3: Code generation: Embedded coder allows fast integration
Key Takeaways