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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