CN102012673A - Design method of complex reaction type system controller - Google Patents

Design method of complex reaction type system controller Download PDF

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Publication number
CN102012673A
CN102012673A CN2010105619310A CN201010561931A CN102012673A CN 102012673 A CN102012673 A CN 102012673A CN 2010105619310 A CN2010105619310 A CN 2010105619310A CN 201010561931 A CN201010561931 A CN 201010561931A CN 102012673 A CN102012673 A CN 102012673A
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reaction type
complex reaction
rhapsody
code
controller
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Inventor
曹云峰
庄丽葵
刘兴华
王彪
王西超
周在华
张寅生
徐慧
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Nanjing University of Aeronautics and Astronautics
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Nanjing University of Aeronautics and Astronautics
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Abstract

The invention discloses a design method of a complex reaction type system controller, belonging to the field of controller design. In the method, a mode that control software and an embedded hardware platform are in parallel is adopted. The method comprises the following steps: dividing the controller into a logic part and a control law part according to the complex reaction type system attributes; respectively establishing a model for the two parts by using the idea of model driving development, and combining the logic part and the control law part of the controller by using the model integration mode of model importing, thereby forming complete complex reaction type system control software irrelevant to the platform; and finally, converting a personal information management (PIM) model into a platform specific model (PSM) by using a specific operating system adapter, and downloading the PSM model to the designed hardware platform, thereby completing the design of the complex reaction type system controller. By using the design method, the design personnel can concentrate on the construction of the complex reaction type system logic model without considering the editing of the controller software, thereby greatly enhancing the development efficiency of the complex reaction type system controller.

Description

Complex reaction type system controller method for designing
Technical field
The present invention relates to a kind of controller design method, relate in particular to a kind of complex reaction type system controller method for designing.
Background technology
Complex reaction type system is meant those structures composition complexity and comprises the discrete state behavior simultaneously and the response type system of continuous two kinds of behavioral characteristics of dynamic behaviour.Flight control system, Auto Electronic Controlled System etc. all are typical complex reaction type systems.
In complex reaction type system design process, the designer at first carries out system's top layer design.In this stage, the designer gathers user's request, and it is analyzed, decomposes and refines, and carries out the analysis and the design of system based on user's request, obtains the overall system design scheme.Wherein General layout Plan is the foundation of subsequent design work, and whether it determined the physical prototyping of finally designing to move correct and met consumers' demand, so the designer should guarantee at first that General layout Plan is correct and meets consumers' demand.
The design process of a common controller or control system has the investigation of formulation task, control computer type selecting, relevant hardware circuit design, Control Software design, coding, debugging, five steps of the laboratory uniting and adjustment of hardware, software and emulation and field adjustable.For complex reaction type system, the methodology of soft project is followed in the design of Control Software, develops and the Control Software of maintenance system with notion, principle, technology and the method for engineering, to improve the quality of software, reduce the problem in the software, increase its maintainability.The process of software design is followed the software development waterfall model usually, progressively develops in strict accordance with the step of demand analysis, summary design, detailed design, coding, debugging.Be to transmit information between each stage by a large amount of document, however document this in transmittance process, can not test, therefore between each stage of software development, formed communication disorders.In addition because the life cycle of this process is oversize, can not the testing of document, the mistake of demand is successively accumulated, and could find when having only system testing.This has just produced contradiction: most of mistake has accumulated formation, but can only find in the back.Therefore when correcting a mistake, document architecture is of a high price.
Traditional complex reaction type system conventional controller design method also is a kind of document driven design method, so-called document drive-type is meant that the design proposal that system's top layer design phase provides is that document form and this stage design work lack necessary system-level Aided Design and simulating, verifying means, though be that the designer can adopt tool software such as Simulink that single field/angles such as control algolithm are carried out modeling and simulating, verifying, but lack system-level simulating, verifying means, so the designer can't guarantee that General layout Plan operation is correct and meets consumers' demand.In case and have ambiguity and mistake in the General layout Plan, these ambiguities and wrong can obtaining amplifying and spreading in subsequent design stage even hardware and software uniting and adjustment stage are made amendment when finding by the time more so, its cost is huge.
Summary of the invention
Technical matters to be solved by this invention is the present situation that is not suitable for the system development of complex reaction type at the deficiency of traditional complex reaction type development mode of system and conventional controller method for designing, proposes a kind of complex reaction type system controller method for designing.
The present invention solves above-mentioned technical matters by the following technical solutions:
A kind of complex reaction type system controller method for designing may further comprise the steps:
Step 1, require complex reaction type system is carried out demand analysis and affirmation according to user task;
Step 2, according to the attribute of complex reaction type system, determine structure, function, performance and the behavior of its business demand and system, the Control Software of complex reaction type system is divided into logical gate and control law part;
The business demand of the complex reaction type system that step 3, basis are determined is carried out modeling to the logic function of complex reaction type system, determines the control mode of complex reaction type system;
The business demand design complex reaction type systematic control algorithm of the complex reaction type system that step 4, basis are determined carries out the design of control law;
Step 5, the complex reaction type system logic functional mode set up and complex reaction type system control law model merged carry out collaborative simulation and checking;
Step 6, utilize designed complex reaction type system logic functional mode and complex reaction type system control law model construction complex reaction type system platform independence model;
Step 7, carry out the design of complex reaction type system embedded hardware platform, comprise the design of writing and being applicable to this hardware platform operating system adapter of the building of hardware platform, hardware drive program;
Step 8, complex reaction type system platform independence model is carried out model compiling, convert thereof into the source code relevant with platform based on the abstract operation system;
Step 9, carry out member assembling, with previous step generated based on the source code relevant of abstract operation system and embedded development platform with platform after the code skeleton based on model that generates automatically links, assembles, make it through step 7 designed operating system adapter and the processing that corresponding language compiles, generate the PSM goal systems that depends on specific operation system.
Complex reaction type system controller method for designing of the present invention, with design of Controller, especially a higher level abstract model is appointed as in the Control Software design.By explanation/execution or automatic generating code to model, abstract model can be converted into the software application that can work automatically, makes that the Control Software exploitation is more quick, and cost of development is lower, and software quality is higher.Simultaneously, the developer needn't spend a large amount of time and efforts in code compiling and test, can be absorbed in how to build the system functionality framework more, spends more energy to go to solve the research of technique of control system key component.If there is the people to add in the performance history midway, he does not need to read a large amount of source codes, just can devote oneself to work and only need to understand these high level models.In addition, because model comes out according to functional abstract, avoided the ambiguity of document, and better legibility has been arranged.
Description of drawings
Fig. 1 is a complex reaction type system controller method for designing process flow diagram of the present invention;
Fig. 2 is certain type unmanned plane complex reaction type System Requirement Models described in the embodiment;
Fig. 3 is certain type unmanned plane complex reaction type system logic functional diagram described in the embodiment;
Fig. 4 is the figure of control law task workflow described in the embodiment;
Fig. 5 is the composition of Control Software PIM model described in the embodiment and PSM model and concerns synoptic diagram.
Embodiment
Below in conjunction with accompanying drawing technical scheme of the present invention is elaborated:
In this embodiment, under Rhapsody and Simulink software environment, realize complex reaction type system controller method for designing of the present invention.Rhapsody embeds model-driven exploitation (MDD) environment based on SysML/UMLTM 2.0 leading on the market, at the time pressure of exploitation fast and pay high-quality system and software is made good balance between the two.The modeling environment that Rhapsody provides has taken into full account quick exploitation, testability, has reduced cost, created demands such as high-quality delivered product.The systems engineering and the soft project process of the integrated and robotization by height, but complete implementation system can be developed, and the framework of Rhapsody exploitation can be realized high-quality and the high-level efficiency developed.The core technology that Rhapsody has for system engineer and software developer provide UML/SysML compatible tools, and can expand to the modeling to specific area.Rhapsody provides real cooperative working environment, and the team that adapts to any size links up effectively and improves development efficiency.In conjunction with patterned unified modeling language (UML) and system modelling language (SysML) and AS design and analysis ability, Rhapsody provides a complete model-driven development environment, has covered from demand to get access to analysis, design, realize and the test overall process.Rhapsody uses integrated demand management and tracking characteristics, guarantees that design satisfies the demands forever.Utilize UML and SysML to develop iteratively, slip-stick artist and developer can carry out the logic function design to complication system at system level, and use testability technology (DFT) to reduce defective at the initial stage of exploitation, and the demand that always contrasts is confirmed design.In addition, Rhapsody has reduced the construction cycle for the ability that slip-stick artist and developer provide the generation complete application.The code visualization function of innovation provides integrated original code and has reused the ability that has IP now together with powerful reverse-engineering ability.Rhapsody develops the system and the software modeling solution of (MDD) as a model-driven, in the performance of optimizing embedded system and software, has solved communication well, can reduce, a series of challenging problems such as can following the tracks of and reduce cost.Adopt Rhapsody to carry out the modeling of complex reaction type system controller steering logic in the present invention.
Simulink is used for the interactive environment of modeling, analysis and the various dynamic systems of emulation, comprises continuous system, discrete system and commingled system.Simulink provides the method that adopts the mouse drag and drop to set up the graphical interaction platform of system chart model.By the rich functions piece that Simulink provides, can promptly create dynamic system model.In addition, Simulink also is the supporting platform of real-time code Core Generator Real-Time Workshop.Simulink is the stratification modeling tool, data management instrument, customization subsystem instrument.No matter how complicated slip-stick artist's system has, and can easily finish simple and clear precise analytic model and describe.Simulink comprises above 1,000 modules to realize the description to constructing system utility function commonly used.They comprise:
Discrete dynamic system module continuously.For example: integration and unit delay module
Algoritic module.For example: addition, multiplication and table look-up module
Construction module.For example: mux, switch and signal and bus selection
The application of specific area.For example: Aero-Space, communication, signal Processing, machinery, electric power ...
Adopt MATLAB, FORTRAN, Ada and C code generate custom block
Based on the perfect CallBack mechanism of model and individual module, allow the user that the simulation process of model is customized
Gathered Aerospace Blockset, Simulink Control Design, Simulink FixedPoint, Simulink Response Optimization, numerous functional module support users such as Simulink Parameter Estimation, Real-TimeWorkshop in the Simulink environment complication system in fields such as Aero-Space, automobile, electronics and industrial process has been built bright precise analytic model, and it is carried out specificity analysis at time domain, frequency domain, design various control laws and debug, simulating, verifying, and provide visual inspection etc.Simulink has become the common tool that carries out CONTROL LAW DESIGN in the control professional domain, and the present invention adopts Simulink to carry out control law Model Design in the complex reaction type system controller.
As shown in Figure 1, the present invention specifically carries out the design of complex reaction type system controller according to following steps:
Step 1, require complex reaction type system is carried out demand analysis and affirmation according to complex reaction type overall system design, in Rhapsody, utilize demand is analyzed and confirmed among the UML with illustration, use the use-case mode determine the scope of Control Software, outside interactive object, use-case and between incidence relation, then based on use-case, by the scene that precedence diagram is described system is analyzed, determine function, behavior and performance that Control Software should possess.In complex reaction type system, complex reaction type system is responsible for the status information of peripherals of acquisition system and the output information of system sensor, real-time resolving goes out the controlled quentity controlled variable to peripherals and topworks, realizes the Whole Process Control to complex reaction type system.Use-case is a functional unit in the system, can be described to a reciprocation between participant and the system.The purposes of use-case model is use-case and the participant who lists in the system, and shows which participant has participated in the execution of which use-case.For example Fig. 2 is an example with certain type unmanned plane complex reaction type system, utilizes UML to describe its demand with illustration in Rhapsody.The operator has external control hand (ground controller), sensor groups and topworks among the figure; Main use-case has that control law resolves, signals collecting, signal output and four use-cases of task scheduling management.Signals collecting and signal output use-case have been expressed system to the Signal Processing function; Control law resolves the basic function that use-case is mainly used to expression system, and it represents that with the relation between the use-case is extensive promptly flying among the figure controlled use-case and navigation use-case, represents that respectively flight control is resolved and navigation calculation.Task scheduling management use-case is in charge of the scheduling relation between each task and the transmission of data.
Step 2, on demand analysis and systematic analysis basis, system decomposes from function, behavior and performance to the complex reaction type, obtains its discrete state behavior part and continuous state behavior part.The controller of any complex reaction type system all can be divided into discrete state behavior part and continuous state behavior part in form.Wherein the discrete state behavior is used for describing the logical gate of complex reaction type system controller, mainly is the set of its control mode; Continuous part mainly is meant control algolithm that is control law part.
The complex reaction type system requirements that step 3, basis are determined, in the Rhapsody software environment, utilize uml class figure, object diagram, constitutional diagram, precedence diagram, activity diagram and collaboration diagram etc. to describe the logic function of complex reaction type system, determine the various control mode of complex reaction type system.Fig. 3 is an example with certain type unmanned plane complex reaction type system, utilizes the UML constitutional diagram to set up its logic function figure in the Rhapsody software environment." neikong " expression internal control mode, " waikong " expression external control mode, " hunkong " expression mixing mode among the figure.Internal control mode is the flight of automatic mode, and the unmanned plane back acquiescence that powers on entering internal control mode, under the internal control state unmanned plane can finish automatically take off, along actions such as prebriefed pattern flight, downslide and landings.External control mode makes unmanned plane complex reaction type system enter direct rudder face maneuverability pattern.Under direct rudder face maneuverability pattern, operator controls the flight or the ground roll-out direction of motion of unmanned plane by rudder face, engine air door and the front-wheel of operating rod direct manipulation unmanned plane; Mixing mode makes unmanned plane complex reaction type system entering angle instruction maneuverability pattern.Enter corresponding flight mode by sending instruction.
The complex reaction type system requirements that step 4, basis are determined carry out modeling to complex reaction type systematic control algorithm, finish the design of complex reaction type system control law in the Simulink software environment.As Fig. 4 is shown in certain type complex reaction type system control law task workflow, and in software running process, the control law task is waited for the data-message that the management and running task sends in real time.When in the message queue new data being arranged, the control law task enters ready state, obtains operation power.After the control law task resolution data message, carry out control law according to current control mode and resolve, draw steering order, export to topworks.
Step 5, the complex reaction type system logic functional mode set up and complex reaction type systematic control algorithm model merged carry out collaborative modeling and emulation, after the correctness of verifying two kinds of models respectively, carry out the integrated verification of model.If checking correctly then continue down to carry out, if authentication error is then returned step 2 and designed again.
Step 6, utilize designed complex reaction type system logic functional mode and complex reaction type system control law model construction complex reaction type system platform independence model (PIM model).The mdl model (being the control algolithm model) that utilizes point-to-point mode to set up in the Simulink software development environment imports in the Rhapsody software development environment and the uml model of setting up in the Rhapsody software development environment carries out integrated.It is the Software tool of real-time or non real-time program that MATLAB provides the Simulink model conversation: Real-time Workshop (RTW), it is based on the code Core Generator of Simulink, can be the C language codes or the C++ code of standard with the Simulink model conversation, the model running framework that the system of adding provides, they constitute a complete C/C++ language program.These program codes can break away from MATLAB environment independent operating after compiling connects the generation executable file.The control law model that will design in Simulink utilizes RTW to generate executable code, and carries out the model encapsulation, and the model after the encapsulation utilizes flowport to carry out exchanges data.In Rhapsody software, utilize expansion profile mechanism, will be in the Simulink packaged model and the code of generation import the point-to-point seamless link of promptly finishing among the Rhapsody between Matlab and the Rhapsody simultaneously, promptly satisfied all models of being set up are all in the Rhapsody software environment, both realized the system-level collaborative simulation of complex reaction type system, the complex reaction type system controlling software model (PIM model) of integrated again complete platform independence.
Step 7, carry out the design of complex reaction type system embedded hardware platform.According to complex reaction type system requirements, determine the indexs such as input interface, output interface, arithmetic capability and data storage capacity of controller, design suitable embedded hardware platform, carry out the design of writing and being applicable to this hardware platform operating system adapter of hardware drive program simultaneously.At the customized configuration of specific operating system, the abstract operation system adapter in the real-time framework of design Rhapsody.Software implementing course is to utilize the automatic generation technique of code to realize under the Rhapsody platform, mainly is by come the implementation strategy of completion code based on the built-in real-time framework OXF of Rhapsody (Object Execution Framework).The real time embedded system software frame is a middleware under application program on the operating system, the writing or produce automatically of application program all based on the real time embedded system software frame that unified interface is arranged, so just make the exploitation of application software and concrete platform independence, solved the transplanting problem of Embedded Application.The real-time framework of Rhapsody is open fully, and the user can make up according to specific operating system and applied environment.Concrete building process comprises: (1) revises real-time framework OXF; (2) write Makefile, set up dynamic base; (3) revise the Rhapsody attribute, add specific operating system development environment under the Rhapsody.
Step 8, the complex reaction type PIM of system model is carried out model compiling, the PIM model conversion is become the source code relevant with platform (as C, C++, JAVA etc.) based on the abstract operation system, i.e. PSM model.The complex reaction type PIM of system model is carried out the model compiling, with the platform relevant source code (as C, C++, JAVA etc.) of PIM model conversion one-tenth based on the abstract operation system, i.e. PSM model.Fig. 5 is the composition and the graph of a relation of PIM model and PSM model.Wherein PIM is made of jointly uml model and Simulink model, with the embedded Control software PSM model (code) of PIM model conversion one-tenth based on the OXF framework.At first, generate the code generation mechanism of purpose configuration Rhapsody and RTW according to code.The former comprises target platform type, object code type, whether adds debugging code etc., and the latter comprises object code type, solver algorithm and finds the solution step-length etc.Wherein the Rhapsody code generation mechanism uses different configurations during with final issue when software design is debugged, and the target platform type is traditionally arranged to be development platform and needs to add debugging code during such as software design and debugging; When software is finally issued then target platform be set to the actual deployment platform and remove wherein debugging code.Then, use Rhapsody code generator and RTW to generate object code respectively part of the UML in the PIM model and Simulink part respectively based on this configuration.Suitably revise the RTW code, then the RTW code is embedded in the code that Rhapsody software environment uml model generated, work in coordination with compiling at last.The code that is generated by code that uml model generated and RTW constitutes the complete PSM model of embedded Control software (code) jointly.
Step 9, carry out member assembling, with PSM source code that previous step generated and embedded development platform after the code skeleton based on model that generates automatically links, assembles, the processing that it is compiled through the 7th language that goes on foot designed operating system adapter and correspondence, generation depends on the PSM goal systems of specific operation system, can be transferred to and test in the embedded hardware platform of design and use, after the PIM modelling finishes and converts PSM model (code) to, need move test, whether the access control software design meets the demands.If in test process, pinpoint the problems, then return step 6 and revise Control Software PIM model, and again according to step 8 generating code.So loop iteration meets the demands until design, finally finishes the design of complex reaction type system controller.
Compared to existing technology, complex reaction type system controller method for designing of the present invention has the following advantages:
One, by the present invention, can realize fast complex reaction type system controller being designed. By controlling software development in model layer, improve the software development level, make the designer can be absorbed in the design of control software operation logical model;
Two, by complex reaction type system is divided into logical gate and control law part, carry out respectively the development and Design of complex reaction type system controller in these two completely different professional domains, improved the design efficiency of complex reaction type system controller;
Three, generate by the automation from the model to the code, alleviated code and write workload, and the series of problems of having avoided the traditional-handwork coded system to bring.
Four, automatically generate by the code based on framework, realized convenient transplant of complex reaction type system controlling software between different Embedded Hardware Platforms.

Claims (6)

1. a complex reaction type system controller method for designing is characterized in that, may further comprise the steps:
Step 1, require complex reaction type system is carried out demand analysis and affirmation according to user task;
Step 2, according to the attribute of complex reaction type system, determine structure, function, performance and the behavior of its business demand and system, the Control Software of complex reaction type system is divided into logical gate and control law part;
The business demand of the complex reaction type system that step 3, basis are determined is carried out modeling to the logic function of complex reaction type system, determines the control mode of complex reaction type system;
The business demand design complex reaction type systematic control algorithm of the complex reaction type system that step 4, basis are determined carries out the design of control law;
Step 5, the complex reaction type system logic functional mode set up and complex reaction type system control law model merged carry out collaborative simulation and checking;
Step 6, utilize designed complex reaction type system logic functional mode and complex reaction type system control law model construction complex reaction type system platform independence model;
Step 7, carry out the design of complex reaction type system embedded hardware platform, comprise the design of writing and being applicable to this hardware platform operating system adapter of the building of hardware platform, hardware drive program;
Step 8, complex reaction type system platform independence model is carried out model compiling, convert thereof into the source code relevant with platform based on the abstract operation system;
Step 9, carry out member assembling, with previous step generated based on the source code relevant of abstract operation system and embedded development platform with platform after the code skeleton based on model that generates automatically links, assembles, make it through step 7 designed operating system adapter and the processing that corresponding language compiles, generate the PSM goal systems that depends on specific operation system.
2. complex reaction type system controller method for designing according to claim 1 is characterized in that this method is to realize under Rhapsody and Simulink software environment.
3. as complex reaction type system controller method for designing as described in the claim 2, it is characterized in that, step 2 is specially utilizes UML to describe the demand of complex reaction type system with illustration in Rhapsody software, according to its structure, function, performance and behavior demand is divided into logical gate and control law part.
4. as complex reaction type system controller method for designing as described in the claim 2, it is characterized in that, step 5 is specially: the method for utilizing model and code synchronisation to import, the mdl model that to set up in the Simulink software development environment imports in the Rhapsody software development environment, and associating mdl model and uml model carry out collaborative simulation and checking; And in step 6, make up the complex reaction type system platform independence model model of complex reaction type system jointly based on these two kinds of models of verifying.
5. one kind is method based on the embedded Control software PSM model of OXF framework with the PIM model conversion, described PIM model is made of uml model and Simulink model, it is characterized in that, at first generate the code generation mechanism of purpose configuration Rhapsody and RTW according to code; Use Rhapsody code generator and RTW to generate object code respectively part of the UML in the PIM model and Simulink part respectively based on this configuration then; Suitably revise the RTW code, then it is embedded in the code that uml model generated among the Rhapsody, both constitute the complete PSM model of embedded Control software jointly.
6. the construction method of an abstract operation system adapter, described abstract operation system adapter is characterized in that based on the Rhapsody software platform this method is based on the built-in real-time framework OXF of Rhapsody and comes completion code, specifically may further comprise the steps:
(1) revises real-time framework OXF;
(2) write Makefile, set up dynamic base;
(3) revise the Rhapsody attribute, add specific operating system development environment under the Rhapsody.
CN2010105619310A 2010-11-26 2010-11-26 Design method of complex reaction type system controller Pending CN102012673A (en)

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CN102243677B (en) * 2011-07-18 2013-03-20 浙江大学 Product detailed design model automatic generation method based on SysML drive
CN102243677A (en) * 2011-07-18 2011-11-16 浙江大学 Product detailed design model automatic generation method based on SysML drive
CN103412972A (en) * 2013-07-01 2013-11-27 北京理工大学 Method for packaging and integrating simulation models of distributed simulation platform of aircraft
CN103529848B (en) * 2013-10-22 2017-02-22 南京邮电大学 Coordinated control method for multiple incomplete robots by using disturbing signals
CN103529848A (en) * 2013-10-22 2014-01-22 南京邮电大学 Coordinated control method for multiple incomplete robots by using disturbing signals
CN105787141A (en) * 2014-12-25 2016-07-20 北京仿真中心 Collaborative simulation method and system for complex weapon system operation process
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Application publication date: 20110413