CN107016214B - A Generating Method of Parameter Dependence Model Based on Finite State Machine - Google Patents
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Abstract
Description
技术领域technical field
本发明属于产品设计的技术领域，具体涉及一种基于有限状态机的参数依赖模型的生成方法。The invention belongs to the technical field of product design, and in particular relates to a method for generating a parameter-dependent model based on a finite state machine.
背景技术Background technique
产品的设计参数是各类设计决策的最终体现，也是决定产品各项设计需求是否得以满足的根本。在产品设计过程中，存在大量的约束依赖关系，这些依赖关系最终均由参数的依赖来表示，参数依赖模型在传播设计变化，支持多领域协同设计方面有着重要辅助作用。The design parameters of a product are the final embodiment of various design decisions, and are also the basis for determining whether various design requirements of a product can be met. In the process of product design, there are a large number of constraint dependencies, which are ultimately represented by parameter dependencies. The parameter dependency model plays an important auxiliary role in propagating design changes and supporting multi-domain collaborative design.
已有的参数依赖模型仅包含静态的参数依赖，参数之间的依赖关系是固定不变的。然而，设计变化可能导致参数依赖发生变化，为维护参数依赖模型的一致性，设计人员需进一步手动更新参数依赖模型，这将大大增加设计人员的负担，降低设计效率。Existing parameter dependency models only contain static parameter dependencies, and the dependencies between parameters are fixed. However, design changes may lead to changes in parameter dependence. In order to maintain the consistency of the parameter dependence model, the designer needs to further update the parameter dependence model manually, which will greatly increase the burden on the designer and reduce the design efficiency.
针对传统参数依赖模型的缺点，有必要引入新的建模方法，以适应产品迭代设计模式中日益频繁的设计变化所引起的参数依赖变化，并为设计人员提高设计效率提供辅助方法。In view of the shortcomings of the traditional parameter dependence model, it is necessary to introduce a new modeling method to adapt to the parameter dependence changes caused by the increasingly frequent design changes in the product iterative design mode, and to provide auxiliary methods for designers to improve design efficiency.
发明内容SUMMARY OF THE INVENTION
本发明提供了一种基于有限状态机的参数依赖模型的生成方法，解决了传统参数依赖模型需要手动更新参数，增加设计人员的负担，降低设计效率等问题。The invention provides a method for generating a parameter-dependent model based on a finite state machine, which solves the problems of the traditional parameter-dependent model requiring manual updating of parameters, increasing the burden on designers, and reducing design efficiency.
本发明可通过以下技术方案实现：The present invention can be realized through the following technical solutions:
一种基于有限状态机的参数依赖模型的生成方法，包括以下步骤：A method for generating a parameter-dependent model based on a finite state machine, comprising the following steps:
步骤一、根据产品系统的参数和设计约束，列出对应的参数依赖关系表达式，并加入参数依赖关系集合中；Step 1. According to the parameters and design constraints of the product system, list the corresponding parameter dependency expression and add it to the parameter dependency set;
步骤二、对于所述参数依赖关系集合中的各个参数依赖关系表达式，逐一建立对应的有限状态机及其状态，并为所述有限状态机模型的状态设置转换条件；Step 2: For each parameter dependency expression in the parameter dependency set, establish corresponding finite state machines and their states one by one, and set transition conditions for the states of the finite state machine model;
步骤三、将产品系统的各个参数与对应的有限状态机的输入参数和输出参数相连，建立产品系统的参数依赖模型；Step 3: Connect each parameter of the product system with the corresponding input parameters and output parameters of the finite state machine, and establish a parameter dependence model of the product system;
所述步骤二具体包括以下步骤：The second step specifically includes the following steps:
步骤Ⅰ、从所述参数依赖关系集合中任取一参数依赖关系表达式，所述参数依赖关系表达式的自变量为对应的有限状态机的输入参数，其因变量为对应的有限状态机的输出参数；Step 1: Take any parameter dependency expression from the parameter dependency set, the independent variable of the parameter dependency expression is the input parameter of the corresponding finite state machine, and the dependent variable is the corresponding finite state machine. Output parameters;
步骤Ⅱ、判断所述参数依赖关系表达式是否为分段函数，若是，则创建一个对应的有限状态机的状态，内置所述参数依赖关系表达式；若否，则创建与分段函数的分段个数相同的状态，各个状态内置对应分段的参数依赖关系表达式；Step II: Judging whether the parameter dependency expression is a piecewise function, if so, create a corresponding finite state machine state with the parameter dependency expression built-in; if not, create a segmentation function with the piecewise function. For states with the same number of segments, each state has a built-in parameter dependency expression for the corresponding segment;
步骤Ⅲ、若状态仅为一个，则其转换条件始终处于激活状态；若状态个数大于一个，则其转换条件为对应的所述参数依赖关系表达式的分段函数的分段计算条件；Step III, if the state is only one, then its transition condition is always in the active state; if the number of states is greater than one, then its transition condition is the piecewise calculation condition of the piecewise function of the corresponding parameter dependency expression;
步骤Ⅳ、重复步骤一至三，直至所述参数依赖关系集合为空集。Step IV: Repeat steps 1 to 3 until the parameter dependency set is an empty set.
一种基于有限状态机的倒立摆系统的建模方法，包括以下步骤：A modeling method for an inverted pendulum system based on a finite state machine, comprising the following steps:
步骤ⅰ、分析倒立摆系统，确定所述倒立摆系统的参数及表示参数之间关系的函数表达式；Step 1, analyze the inverted pendulum system, determine the parameters of the inverted pendulum system and the function expression representing the relationship between the parameters;
步骤ⅱ、判断函数表达式是否为分段函数及分段个数，确定函数表达式对应的有限状态机的状态的个数；
步骤ⅲ、根据函数表达式的自变量、因变量和分段函数的计算条件，分别确定函数表达式对应的有限状态机的输入参数、输出参数和状态的转换条件，建立函数表达式对应的有限状态机；Step 3: Determine the input parameters, output parameters and state transition conditions of the finite state machine corresponding to the function expression according to the independent variables, dependent variables and the calculation conditions of the piecewise function of the function expression, and establish the finite state machine corresponding to the function expression. state machine;
步骤ⅳ、重复步骤ⅱ至ⅲ，逐一建立函数表达式对应的有限状态机，再将所述倒立摆系统的各个参数和对应的有限状态机联系起来，建立所述倒立摆系统的有限状态机模型。Step iv, repeating steps ii to iii, establishing the finite state machine corresponding to the function expression one by one, and then linking each parameter of the inverted pendulum system with the corresponding finite state machine to establish the finite state machine model of the inverted pendulum system .
进一步，所述步骤ⅱ中的分段函数的分段个数和对应的有限状态机的状态个数相同，非分段函数对应的有限状态机的状态仅有一个。Further, the number of segments of the segmented function in the step ii is the same as the number of states of the corresponding finite state machine, and the state of the finite state machine corresponding to the non-segmented function is only one.
进一步，所述步骤ⅲ中的所述输入参数和输出参数分别为对应的函数表达式的自变量和因变量，所述转换条件为对应的分段函数的分段计算条件或者非分段函数始终处于激活状态。Further, the input parameter and the output parameter in the described step iii are respectively the independent variable and the dependent variable of the corresponding function expression, and the conversion condition is the piecewise calculation condition of the corresponding piecewise function or the non-piecewise function always. is active.
进一步，所述倒立摆系统包括支点和设置所述支点上的机械臂，所述机械臂的参数包括长len、宽wid、高heig、密度den、质量mass和惯量iner，函数表达式包括质量依赖关系和惯量依赖关系。Further, the inverted pendulum system includes a fulcrum and a mechanical arm set on the fulcrum, the parameters of the mechanical arm include length len, width wid, high heig, density den, mass mass and inertia iner, and the function expression includes mass dependence Relationships and Inertia Dependencies.
进一步，所述质量依赖关系为非分段函数，对应的状态结点仅有一个，且始终处于激活状态；所述惯量依赖关系为分段函数，对应的状态为两个，其转换条件分别为wid>len/20||heig>len/20，wid≤len/20||heig≤len/20。Further, the mass dependency is a non-piecewise function, and there is only one corresponding state node, and it is always in an active state; the inertia dependency is a piecewise function, and the corresponding states are two, and the conversion conditions are respectively: wid>len/20||heig>len/20, wid≤len/20||heig≤len/20.
本发明有益的技术效果如下：The beneficial technical effects of the present invention are as follows:
本发明将参数之间的数学依赖关系表示为状态，将各个数学依赖关系之间的计算条件表示为状态之间的转移，支持多参数依赖关系建模，该模型结构稳定，并且当发生设计变化时，不同依赖关系可根据参数值动态切换，从而实现参数依赖关系的动态建模。这样即可有效消除人工修改参数依赖模型中可能的人工错误，缩短设计周期，提高设计效率。The present invention expresses the mathematical dependencies between parameters as states, and expresses the calculation conditions between the respective mathematical dependencies as transitions between states, and supports multi-parameter dependency modeling. The model has a stable structure, and when design changes occur When , different dependencies can be dynamically switched according to parameter values, so as to realize the dynamic modeling of parameter dependencies. In this way, possible manual errors in the manual modification of the parameter-dependent model can be effectively eliminated, the design cycle can be shortened, and the design efficiency can be improved.
附图说明Description of drawings
图1为本发明的总体方案流程图；Fig. 1 is the overall scheme flow chart of the present invention;
图2为本发明的实施例的倒立摆系统的结构示意图；2 is a schematic structural diagram of an inverted pendulum system according to an embodiment of the present invention;
图3为本发明的实施例的质量依赖关系的有限状态机示意图；3 is a schematic diagram of a finite state machine of a quality dependency according to an embodiment of the present invention;
图4为本发明的实施例的质量依赖关系的有限状态机的内部结构示意图；4 is a schematic diagram of the internal structure of a finite state machine of a quality-dependent relationship according to an embodiment of the present invention;
图5为本发明的实施例的惯量依赖关系的有限状态机示意图；5 is a schematic diagram of a finite state machine of an inertia dependency relationship according to an embodiment of the present invention;
图6为本发明的实施例的惯量依赖关系的有限状态机的内部结构示意图；FIG. 6 is a schematic diagram of the internal structure of a finite state machine of inertia dependency according to an embodiment of the present invention;
图7为本发明的实施例的整个系统的有限状态机模型。FIG. 7 is a finite state machine model of the entire system of the embodiment of the present invention.
具体实施方式Detailed ways
下面结合附图及较佳实施例详细说明本发明的具体实施方式。The specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings and preferred embodiments.
在产品设计活动中，设计决策最终由参数体现，而设计约束则表现为参数依赖关系，通过分析不同依赖关系的适用条件，可利用有限状态机对参数依赖关系进行精确表达，进而生成由有限状态机表示的参数依赖模型。参数依赖模型主要包括两类元素：参数和参数之间的数学依赖关系。有限状态机是一种表示有限个状态以及在这些状态之间的转移和动作等行为的数学模型，本发明将参数之间的数学依赖关系表示为状态，将各个数学依赖关系之间的计算条件表示为状态之间的转移，支持多参数依赖关系建模，该模型结构稳定，并且当发生设计变化时，不同依赖关系可根据参数值动态切换，从而实现参数依赖关系的动态建模。这样即可有效消除人工修改参数依赖模型中可能的人工错误，缩短设计周期，提高设计效率。In product design activities, design decisions are ultimately embodied by parameters, while design constraints are expressed as parameter dependencies. By analyzing the applicable conditions of different dependencies, the finite state machine can be used to accurately express the parameter dependencies, and then generate a finite state machine. A parameter-dependent model of the machine representation. Parameter dependency models mainly include two types of elements: parameters and mathematical dependencies between parameters. A finite state machine is a mathematical model that represents a finite number of states and behaviors such as transitions and actions between these states. The present invention expresses the mathematical dependencies between parameters as states, and expresses the calculation conditions between the mathematical dependencies. Expressed as transition between states, it supports multi-parameter dependency modeling, the model structure is stable, and when design changes occur, different dependencies can be dynamically switched according to parameter values, thereby realizing dynamic modeling of parameter dependencies. In this way, possible manual errors in the manual modification of the parameter-dependent model can be effectively eliminated, the design cycle can be shortened, and the design efficiency can be improved.
如图1所示，本发明的总体方案流程图。本发明提供了一种基于有限状态机的参数依赖模型的生成方法，包括以下步骤：As shown in FIG. 1, the overall scheme flow chart of the present invention is shown. The present invention provides a method for generating a parameter-dependent model based on a finite state machine, comprising the following steps:
步骤一、根据产品系统的参数和设计约束，列出对应的参数依赖关系表达式，并加入参数依赖关系集合中；Step 1. According to the parameters and design constraints of the product system, list the corresponding parameter dependency expression and add it to the parameter dependency set;
步骤二、对于所述参数依赖关系集合中的各个参数依赖关系表达式，逐一建立对应的有限状态机及其状态，并为所述状态设置转换条件；Step 2: For each parameter dependency expression in the parameter dependency set, establish corresponding finite state machines and their states one by one, and set transition conditions for the states;
步骤三、将产品系统的各个参数与对应的有限状态机的输入参数和输出参数相连，建立产品系统的参数依赖模型；Step 3: Connect each parameter of the product system with the corresponding input parameters and output parameters of the finite state machine, and establish a parameter dependence model of the product system;
所述步骤二具体包括以下步骤：The second step specifically includes the following steps:
步骤Ⅰ、从所述参数依赖关系集合中任取一参数依赖关系表达式，所述参数依赖关系表达式的自变量为对应的有限状态机的输入参数，其因变量为对应的有限状态机的输出参数；Step 1: Take any parameter dependency expression from the parameter dependency set, the independent variable of the parameter dependency expression is the input parameter of the corresponding finite state machine, and the dependent variable is the corresponding finite state machine. Output parameters;
步骤Ⅱ、判断所述参数依赖关系表达式是否为分段函数，若是，则创建一个对应的有限状态机的状态，内置所述参数依赖关系表达式；若否，则创建与分段函数的分段个数相同的状态，各个状态内置对应分段的参数依赖关系表达式；Step II: Judging whether the parameter dependency expression is a piecewise function, if so, create a corresponding finite state machine state with the parameter dependency expression built-in; if not, create a segmentation function with the piecewise function. For states with the same number of segments, each state has a built-in parameter dependency expression for the corresponding segment;
步骤Ⅲ、若状态仅为一个，则其转换条件始终处于激活状态；若状态个数大于一个，则其转换条件为对应的所述参数依赖关系表达式的分段函数的分段计算条件；Step III, if the state is only one, then its transition condition is always in the active state; if the number of states is greater than one, then its transition condition is the piecewise calculation condition of the piecewise function of the corresponding parameter dependency expression;
步骤Ⅳ、重复步骤一至三，直至所述参数依赖关系集合为空集。Step IV: Repeat steps 1 to 3 until the parameter dependency set is an empty set.
下面依倒立摆系统为例具体说明其的建模方法，如图2所示，该倒立摆系统包括支点和设置在支点上的机械臂，该机械臂的参数包括长len、宽wid、高heig、密度den、质量mass和惯量iner，函数表达式包括质量依赖关系和惯量依赖关系，如下列式子所示。The modeling method of the inverted pendulum system is described in detail below. As shown in Figure 2, the inverted pendulum system includes a fulcrum and a robotic arm set on the fulcrum. The parameters of the robotic arm include length len, width wid, height heig , density den, mass mass and inertia iner, the function expression includes mass dependence and inertia dependence, as shown in the following formula.
质量依赖关系：Quality dependencies:
mass＝f(len,wid,heig,den)；mass=f(len,wid,heig,den);
惯量依赖关系：Inertia dependencies:
质量依赖关系为非分段函数，则对应的有限状态机的状态仅有一个，且其转换条件始终处于激活状态，建立对应的有限状态机如图3所示，内部结构如图4所示。If the quality dependency is a non-piecewise function, the corresponding finite state machine has only one state, and its transition condition is always active. The corresponding finite state machine is established as shown in Figure 3, and its internal structure is shown in Figure 4.
惯量依赖关系为，则对应的有限状态机的状态和分段个数相同，即两个，转换条件为分段的计算条件，即wid>len/20||heig>len/20，wid≤len/20||heig≤len/20，建立对应的有限状态机如图5所示，内部结构如图6所示。The inertia dependency is, then the corresponding finite state machine has the same state and number of segments, that is, two, and the transition condition is the calculation condition of the segment, that is, wid>len/20||heig>len/20, wid≤len /20||heig≤len/20, the corresponding finite state machine is established as shown in Figure 5, and the internal structure is shown in Figure 6.
该机械臂的参数长len、宽wid、高heig、密度den、质量mass和惯量iner，与对应的有限状态机联系起来，进而建立整个倒立摆系统的有限状态机模型，如图7所示。The parameters of the manipulator are length len, width wid, high heig, density den, mass mass and inertia iner, which are linked with the corresponding finite state machine, and then establish the finite state machine model of the entire inverted pendulum system, as shown in Figure 7.
基于有限状态机建立的倒立摆系统的模型，结构比较稳定，可根据输入参数长len、宽wid和高heig的数值变化，实时计算状态的转换条件，判断是否切换至相应状态，从而实现保持模型的结构不变的情况下，参数依赖关系的动态变更。这样即可有效消除人工修改参数依赖模型中可能的人工错误，缩短设计周期，提高设计效率。The model of the inverted pendulum system established based on the finite state machine has a relatively stable structure. According to the numerical changes of the input parameters length len, width wid and height heig, the transition conditions of the state can be calculated in real time, and it can be judged whether to switch to the corresponding state, so as to maintain the model. The dynamic change of parameter dependencies without changing the structure of . In this way, possible manual errors in the manual modification of the parameter-dependent model can be effectively eliminated, the design cycle can be shortened, and the design efficiency can be improved.
虽然以上描述了本发明的具体实施方式，但是本领域的技术人员应当理解，这些仅是举例说明，在不背离本发明的原理和实质的前提下，可以对这些实施方式做出多种变更或修改，因此，本发明的保护范围由所附权利要求书限定。Although the specific embodiments of the present invention have been described above, those skilled in the art should understand that these are only examples, and various changes may be made to these embodiments without departing from the principle and essence of the present invention. Modifications, therefore, the scope of protection of the present invention is defined by the appended claims.
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