CN103714208B - Method for conducting modeling through coordination of structural models and behavior models of scenario-driven CPS system - Google Patents
Method for conducting modeling through coordination of structural models and behavior models of scenario-driven CPS system Download PDFInfo
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- CN103714208B CN103714208B CN201310723207.7A CN201310723207A CN103714208B CN 103714208 B CN103714208 B CN 103714208B CN 201310723207 A CN201310723207 A CN 201310723207A CN 103714208 B CN103714208 B CN 103714208B
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Abstract
The invention discloses a method for conducting modeling through coordination of structural models and behavior models of a scenario-driven CPS system. The method includes the steps of firstly, setting up scene models through an MSC; secondly, setting up a scene and event flow diagram; thirdly, setting up a CPS system block diagram; fourthly, projecting the scene and event flow diagram onto a set CPS system entity relationship diagram to obtain a sub-diagram of the CPS system entity relationship diagram; fifthly, restoring the obtained sub-diagram into a CPS system structure sub-diagram; sixthly, setting up the dynamic behavior models for all entities on the basis of the structural models, and then combining the behavior models of the entities according to the interaction relationship of events in the scene and event flow diagram; seventhly, by combining the structural models with the behavior models together, setting up a view, namely, a structure sub-model for the scene, of the structural models of the system through the scenario-driven method, then, setting up dynamic interaction behavior models of the entities in the structure, and realizing modeling through coordination of the structural models and the behavior models.
Description
Technical field
The present invention relates to CPS system modellings field, and in particular to a kind of structural model of scene drive CPS systems and behavior
Model interoperability modeling method.
Background technology
Information physical emerging system (CPS) refers to be interpenetrated and cooperated with depth based on calculating, communication and control, realizes meter
Calculate a kind of New Complex hybrid system that processing procedure and physical control procedure are closely merged, the design of model-driven and exploitation side
Method (MDD) is to build one of effective ways of CPS systems at present.
It is general in engineering practice, developer respectively to the system architecture and dynamic behavior modeling of CPS systems, from system
Composition and two aspects of behavior are portrayed and analyzed to its feature when running, with obtain to its static structure and dynamic behaviour compared with
It is complete understanding.Structural model represents public high-level abstract of system, by the friendship for constituting the description of system entity, entity
The constraint of the integrated pattern of entity and these patterns of connecting, instruct is constituted；Structural model is that every field understands mutually, unites
The basis of one understanding, embodies one group of earliest design decision of system, specify that the constraints realized to system；Dynamic behaviour
Model features the interaction detail between entity in system, for analyzing constraint of the behavior in a certain respect in system in structure
Under whether meet requirements specification, but be related to different research fields in CPS system design process, including computational science neck
Domain, network communication field and physical control field etc.；The system action of interest of different fields is also different, the modeling of use
Method and modeling language are also different, what design process was completely separate, but requirements specification is consistent for whole system
, it is again to be mutually related between every field, how this association is portrayed in model level, realize between multi-field model
Collaborative design becomes a problem in CPS system modellings.
The method of such issues that solve at present mainly has two kinds, and the first is but the CPS systems by way of model conversion
System be related to different fields, between field model be on syntax and semantics be there is also in isomery, and same domain it is different
Modeling language and modeling tool, therefore the association in system model between a part can only be solved by the method, but very
Hardly possible is portrayed by whole system with a kind of unified modeling pattern.Second method is will by the Heuristics of domain expert
Behavior model is packaged, and carries out high-level abstract formation structural model, and the structural model of the structural model and system is entered
Row consistency analysis reach the purpose of behavior model and structural model collaborative modeling, but method belongs to the model of expert system
Whether farmland, final result will depend on the abstract package of expert reasonable.
Goal of the invention
It is an object of the invention to a kind of structural model of scene drive CPS systems and behavior model synergic modeling method,
Structural model is combined with behavior model, by the one of the top-down first constructing system structural model of the method for scene drive
Individual view, i.e., for a sub-structure model of the scene, build the behavior model of entity in the structure, by scene afterwards
Interactive relation the behavior model of entity in minor structure is combined into the behavior model of whole system.Realize structural model and behavior
The collaborative modeling of model, the mistake that the method can occur in early detection system is designed, decision-making is provided to system designer
Support.
The present invention uses following technical scheme to achieve the above object：
A kind of structural model of scene drive CPS systems and behavior model synergic modeling method, its operation are specific as follows：
Step 1：Build model of place；
Step 2：Build scene event flow graph；
Step 3：Build CPS system entity relationship diagrams；
Step 4：Scene event flow graph is projected on the CPS system entity relationship diagrams for building, the CPS that projection is obtained
One subgraph of system entity relationship diagram；
Step 5：Subgraph resulting in step 4 is reduced to CPS system minor structure figures；
Step 6：Dynamic behavior model is built for each entity on the basis of the structural model, afterwards according to scene thing
The behavior model of the interactive relation composite entity of event in part flow graph；
Behavior model is analyzed afterwards, analyze the scene portray demand whether CPS system frameworks constraint
Under can meet；System structure model is harmonious with behavior model if being met, on the contrary then structural model and behavior
Model is inconsistent, it is necessary to change the relevant information of entity in structural model, for system designer provides decision support.
Wherein：
Scene event flow graph is SE=<C, N, M>, it is 3 tuples；
C is the finite set of entity；N is the finite set of event, and each event correspond to the transmission or reception of message；M
It is the finite set of message, to any message m ∈ M, uses m!And mRepresent respectively and send and receive message, any one event e ∈ N,
The transmission event of its a certain message m or the reception event of a certain message m, are designated as λ (e)=m respectively!Or λ (e)=m
CPS system block diagrams, CPS system block diagrams are non-directed graphs, and entity is abstracted into the node of figure from CPS system block diagrams,
Connection is abstracted into side and constitutes between entity, CPS frame diagrams SA=<C, E>；Wherein：C is the finite set of entity；E is entity
Between articulation set；
Projection operation is by the corresponding node of entity C set in scene and Relation extraction out shape from CPS system block diagrams
Into a subgraph of CPS system block diagrams.
Further：
Building model of place concrete operations is：By the use of MSC as scene modeling language, in the demand scene provided from user
CPS entities are extracted as the example in MSC, the interactive relation between entity is abstracted into the message flow in MSC, user is provided
Scene be modeled using MSC, entity include computational entity, physical entity and interworking entity.
Building the operation of scene event flow graph is：According to the definition of scene event flow graph, the MSC figures that will be built in step 1
The event-flow graph of scene is converted into, transformation rule is as follows：
a)：Example in MSC corresponds to the entity in scene event flow graph；
b)：Event in each message correspondence in MSC in event-flow graph, each event package source containing event, event
Destination and data, event source correspond to MSC in message transmission example, event destination correspond to MSC in message
Example is received, data have corresponded to the message in MSC.
Step 4 concrete operations：
To be closed between the corresponding summit of the entity of scene event flow graph and these summits in CPS system entity relationship diagrams
The side of connection extracts, and the sensor in step 2 corresponds to the IMU in CPS system entity relationship diagrams, and perceptron corresponds to
Motor, calculates control centre and corresponds to Task_send.
By the method for above-mentioned modeling, it has the advantage that：
The method realizes the collaborative modeling of structural model and behavior model in CPS systems by way of scene drive.CPS
Field involved by system is different, and every field problem of interest is also different, and the model for being used is also different, and this method is not
Seek a kind of general modeling language, but overlapped this phenomenon in system bottom structure according to different field model, from
Top passes downwardly through system structure model, according to different scenes project the self-structure model of the i.e. system of view of construction system,
The behavior model of entity is built on the structural model afterwards, according to entity interaction composition of relations entity behavior model in scene,
It is analyzed by corresponding instrument.The method because top-down constructing system behavior model, therefore behavior model and
Structural model is maintained unanimously in structure, allows to build system under the constraint of scene structural model in different ways afterwards
The behavior model of system, these behaviors are interacted by the external interface of entity and the behavior model of other entities, realize finishing
Structure and the collaborative modeling of behavior.
Brief description of the drawings
Fig. 1 is structural representation of the invention；
Fig. 2 is CPS model of place figures；
Fig. 3 is scene event flow graph；
Fig. 4 is CPS system entity relationship diagrams；
Fig. 5 is perspective view of the scene on CPS entity relationship diagrams；
Fig. 6 is system minor structure figure corresponding to scene；
Fig. 7 is lunar rover autonomous navigation system framework；
Fig. 8 is lunar rover model of place；
Fig. 9 is the event-flow graph of lunar rover scene；
Figure 10 is lunar rover autonomous navigation system entity interaction graph of a relation；
Figure 11 is the perspective view corresponding to scene；
Figure 12 is the voluntarily navigation system minor structure figure of lunar rover corresponding to scene；
Figure 13 is the behavior model figure corresponding to scene.
Specific embodiment
In order that objects and advantages of the present invention become more apparent, the present invention is carried out further with reference to embodiments
Describe in detail.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, it is not used to limit this hair
It is bright.
The technical scheme that the present invention takes is as shown in figure 1, comprise the following steps：
Step 1：Build model of place；
By the use of message sequence chart (MSC) as scene modeling language, the basic element of message sequence chart is example and message
Stream, extracts CPS entities as the example in message sequence chart in the demand scene provided from user, the interaction between entity is closed
System is abstracted into the message flow in message sequence chart, the scene that user provides is modeled using MSC, as shown in Fig. 2 entity bag
Include computational entity, physical entity and interworking entity.
Step 2：Build scene event flow graph；
According to the definition of scene event flow graph, MSC is converted into the event-flow graph of scene, transformation rule is as follows：
a)：Example in MSC corresponds to the entity in scene event flow graph.
b)：Event in each message correspondence in MSC in event-flow graph.Each event package source containing event and thing
The destination of part and data, event source correspond to the transmission example of message in MSC, and event destination is corresponding to disappearing in MSC
Breath receives example, and data have corresponded to the message in MSC.
The MSC figures that will be built in step 1 are as shown in Figure 3 according to the event-flow graph that above-mentioned transformation rule is changed.
Step 3：Build CPS system entity relationship diagrams；
CPS system entity relationship diagrams are converted to from CPS system framework figures.CPS system framework figures feature and are
The composition of system, interface inter-link is passed through by computational entity, physical entity and interworking entity.And define entity category in frame model
Property and constraint.Entity in frame diagram is abstracted into the summit of figure, the connection of the interface of entity is abstracted into side, by framework
Model conversion into non-directed graph, as shown in Figure 4.
Step 4：Scene event flow graph is projected on the CPS system entity relationship diagrams for building, the CPS that projection is obtained
One subgraph of system entity relationship diagram, the subgraph is the structural model corresponding to scene.
Concrete operations：In CPS system entity relationship diagrams by the entity of scene event flow graph to corresponding summit and this
The side associated between a little summits extracts, and the sensor in step 2 corresponds to the IMU in CPS system entity relationship diagrams, perceives
Device corresponds to Motor, calculates control centre and corresponds to Task_send, then the perspective view of the scene is as shown in Figure 5.
Step 5：Subgraph resulting in step 4 is reduced to CPS system minor structure figures, as shown in fig. 6, in the structure chart
Be by scene map method obtain, therefore maintained in structure with scene it is consistent, the structure chart entity be field
Involved entity in scape, entity attribute and stipulations are remained in the structure chart.
Step 6：Dynamic behavior model is built for each entity on the basis of the structural model, afterwards according to scene thing
The behavior model of the interactive relation composite entity of event in part flow graph, the Dynamic behavior model that entity class difference may be used
It is different, but these behavior models are regarded as the operational mode inside entity for we, that is, entity pass outwardly interface and
External to interact, details is specifically related to specific application by what dynamic behavior model for realizing inside entity.It
Behavior model is analyzed afterwards, and then the scene can be analyzed and portray demand whether under the constraint of CPS system frameworks
Can meet.If be met explanation system structure model it is harmonious with behavior model, if with entity in structural model
Constraint be not desired to meet so explanation structural model and behavior model it is inconsistent, it is necessary to change the correlation of entity in structural model
Information, for system designer provides decision support.
Wherein：
System action stipulations are the behavior to be had when entity is with entity interaction in scene drive CPS systems；
Scene event flow graph is SE=<C, N, M>, it is 3 tuples；
C is the finite set of entity；N is the finite set of event, and each event correspond to the transmission or reception of message；M
It is the finite set of message, to any message m ∈ M, uses m!And mRepresent respectively and send and receive message, any one event e ∈ N,
The transmission event of its a certain message m or the reception event of a certain message m, are designated as λ (e)=m respectively!Or λ (e)=m
CPS system block diagrams, CPS system block diagrams are non-directed graphs, and entity is abstracted into the node of figure from CPS system block diagrams,
Connection is abstracted into side and constitutes between entity, CPS frame diagrams SA=<C, E>；Wherein：C is the finite set of entity；E is entity
Between articulation set；
Projection operation is by the corresponding node of entity C set in scene and Relation extraction out shape from CPS system block diagrams
Into a subgraph of CPS system block diagrams.
The structural model based on scene drive in Information physics integration technology field and behavior model collaborative modeling side
Method, mainly for being calculated in CPS systems, being communicated and control " 3C " fusion feature, uses for reference the thought and multi views of scene drive
Method for designing to CPS systems and is modeled cooperateing with multiple fields, different majors to model personnel, first during collaborative modeling
Static structure modeling is first carried out to whole system based on entity relationship, afterwards according to checking scene from static system structural model
The static structure corresponding to the scene is extracted, a view of system structure model is formed.Then between entity in the view
Interbehavior it is modeled using Dynamic behavior model.Realize cooperateing with and behavior mould for structural model and behavior model
The collaborative modeling of type and behavior model.
It is specifically described with carrying out the collaborative modeling of structure and behaviour model to lunar rover autonomous navigation system below, such as
Fig. 7 show the system framework figure of the system, contains 6 calculating tasks altogether in this framework, their isomorphism CANs
Communicated with sensor and actuator.Here is the checking scene that user is given.
In 6 tasks of the system, Task5DataAcq with 200ms as cycle, periodically to sensor request data.With
As a example by sensor IMU request datas, Task5DataAcq performs following operation：Write-in will be instructed to disappear " to IMU request datas "
Breath queue SendQueue, time delay 5ms, expects to receive all 6 frame perception datas of IMU returns at the end of time delay, at this afterwards
In 5ms, the system and sensor IMU should cooperate with the following operation of completion：
Task task 3Send is by the data is activation in SendQueue to CAN；
IMU parts receive data requesting instructions from CAN, and 0.5ms (response time of IMU) returns to 6 frames later
Data.
Step 1：The illustraton of model of the scene is built using MSC, example in this scenario is Task5DataAcq,
SendQueue, CAN, Task3Send, IMU, model of place figure such as Fig. 8 institutes of structure are not.
Step 2：The event-flow graph of the scene is built, five in the scene example corresponds to five summits in figure, real
Message transmission between example corresponds to the side in figure, as shown in Figure 9.
Step 3：The entity interaction graph of a relation of constructing system framework, constitutes a non-directed graph, and entity is again into the top in figure
Point, the port connection between entity is abstracted into side, as shown in Figure 10.
Step 4：Scene event flow graph is projected on system entity interactive relation figure, obtain scene lunar rover from
Perspective view in row navigation system structure, as shown in figure 11.
Step 5：Subgraph resulting in step 4 is reduced to lunar rover voluntarily navigation system minor structure figure, such as Figure 12 institutes
Show.
Step 6：Entity in framework entity relationship word figure obtained in the previous step is modeled using Timed Automata, afterwards
It is combined according to the interactive relation in scene event flow graph, obtains the behavior model of the scene, as shown in figure 13, is finally beneficial to
Uppaal instruments are analyzed to behavior model.
What the present invention was solved is the collaborative modeling process of CPS system structure models and behavior model, and the modeling process is effective
The consistency analysis supported between model.
The above is only the preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, under the premise without departing from the principles of the invention, some improvements and modifications can also be made, these improvements and modifications also should
It is considered as protection scope of the present invention.
Claims (3)
1. a kind of structural model of scene drive CPS systems and behavior model synergic modeling method, its operation are specific as follows：
Step 1：Build model of place；Its concrete operations is：By the use of MSC as scene modeling language, from the demand that user provides
CPS entities are extracted in scene as the example in MSC, the interactive relation between entity is abstracted into the message flow in MSC, will used
The scene that family provides is modeled using MSC, and entity includes computational entity, physical entity and interworking entity；
Step 2：Build scene event flow graph；
Step 3：Build CPS system entity relationship diagrams；
Step 4：Scene event flow graph is projected on the CPS system entity relationship diagrams for building, projection obtains CPS system realities
One subgraph of body graph of a relation, the subgraph is the structural model corresponding to scene；
Step 5：Subgraph resulting in step 4 is reduced to CPS system minor structure figures；
Step 6：Dynamic behavior model is built for each entity on the basis of the structural model, afterwards according to scene event stream
The behavior model of the interactive relation composite entity of event in figure；
The combination behavior model is analyzed afterwards, analyzes demand that the scene portrayed under the constraint of CPS system frameworks
Can meet；System structure model is harmonious with behavior model if meeting, otherwise then structural model and behavior model be not
Unanimously, it is necessary to change the relevant information of entity in structural model, for system designer provides decision support.
2. the structural model of scene drive CPS systems as claimed in claim 1 and behavior model synergic modeling method, its feature
It is to build model of place concrete operations to be：By the use of MSC as scene modeling language, carried in the demand scene provided from user
CPS entities are taken as the example in MSC, the interactive relation between entity is abstracted into the message flow in MSC, user is provided
Scene is modeled using MSC, and entity includes computational entity, physical entity and interworking entity.
3. the structural model of scene drive CPS systems as claimed in claim 2 and behavior model synergic modeling method, its feature
It is to build the operation of scene event flow graph to be：According to the definition of scene event flow graph, the MSC figure conversions that will be built in step 1
Into the event-flow graph of scene, transformation rule is as follows：
a)：Example in MSC corresponds to the entity in scene event flow graph；
b)：The event in each message correspondence event-flow graph in MSC, each event package source containing event, the purpose of event
Ground and data, event source correspond to the transmission example of message in MSC, and event destination corresponds to the message sink reality in MSC
Example, data have corresponded to the message in MSC.
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| CN109976712A (en) * | 2019-03-12 | 2019-07-05 | 中山大学 | One kind doing formalization verification method to network physical system requirements based on UPPAAL-SMC |
| CN111553113A (en) * | 2020-03-30 | 2020-08-18 | 徐州徐工挖掘机械有限公司 | Factory production scene CPS modeling method based on multi-source information fusion |
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| 基于异构模型融合的CPS系统仿真建模方法研究;梁东方等;《基于异构模型融合的CPS系统仿真建模方法研究》;20121130;第39卷(第11期);第24-28页 * |
| 面向CPS系统仿真的建模方法研究与设计;刘厦等;《计算机科学》;20120731;第39卷(第7期);第32-35页 * |
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