CN117971168A - AGV navigation control embedded software architecture based on configuration and design method - Google Patents

AGV navigation control embedded software architecture based on configuration and design method Download PDF

Info

Publication number
CN117971168A
CN117971168A CN202311632110.5A CN202311632110A CN117971168A CN 117971168 A CN117971168 A CN 117971168A CN 202311632110 A CN202311632110 A CN 202311632110A CN 117971168 A CN117971168 A CN 117971168A
Authority
CN
China
Prior art keywords
layer
configuration
module
software
drv
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202311632110.5A
Other languages
Chinese (zh)
Inventor
佘峰
牛坤
吴俊英
林希佳
唐晓炜
魏雯
黄怡欣
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Jiangsu Jinling Institute Of Intelligent Manufacturing Co ltd
Original Assignee
Jiangsu Jinling Institute Of Intelligent Manufacturing Co ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Jiangsu Jinling Institute Of Intelligent Manufacturing Co ltd filed Critical Jiangsu Jinling Institute Of Intelligent Manufacturing Co ltd
Priority to CN202311632110.5A priority Critical patent/CN117971168A/en
Publication of CN117971168A publication Critical patent/CN117971168A/en
Pending legal-status Critical Current

Links

Classifications

    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Landscapes

  • Stored Programmes (AREA)

Abstract

The invention discloses an AGV navigation control embedded software architecture based on a configuration and a design method, wherein the AGV navigation control embedded software architecture is divided into four layers of structures, namely a BSP layer, a DRV layer, an APP layer and a COM serial port layer, the BSP layer, the DRV layer and the APP layer are distributed in sequence, and each layer can only interact with modules at the lower layer; the interface of each layer performs data encapsulation and abstraction to the upper layer; and the BSP layer, the DRV layer and the APP layer are distributed to carry out general component management through the COM serial port layer. The software architecture provided by the invention not only supports multi-person multi-professional division development in an AGV development project and reduces compatibility and matching problems caused by calling of codes of each level, but also supports multiplexing and packaging of codes of each level in the software development project and shortens the research and development period of project products.

Description

AGV navigation control embedded software architecture based on configuration and design method
Technical Field
The invention discloses an AGV navigation control embedded software architecture based on a configuration and a design method, and relates to the field of software development.
Background
AGV navigation control software is one of the core software of the AGV, and covers the control of most sensors and business logic design of the AGV. At present, a common development mode in the industry mainly carries out modularized development based on a programming language development environment of IEC61131-3, so that the complexity of service development is reduced, but the code execution efficiency of the development environment is much lower than that of direct embedded development, and the requirements on the performance of a controller are higher for AGV vehicles with more sensor accesses and high logic complexity such as large-scale or heavy load; and secondly, the method for directly developing the embedded software code based on the C language also exists, but the software development modularization degree is low, and the design is too free, so that the software quality and the maintenance cost are not satisfactory because of no unified software architecture and design standard.
Disclosure of Invention
The invention mainly aims at the defects of low execution efficiency of an IEC61131-3 programming language development platform and low modularization degree of direct embedded software design, combines the advantages of high modularization degree and high execution efficiency of the direct embedded software design and the direct embedded software design, and adopts an object-oriented software architecture design concept to design an AGV navigation control software architecture.
In order to achieve the above purpose, the technical scheme adopted by the invention is as follows:
In one aspect, the application provides a configuration-based AGV navigation control embedded software architecture, which is divided into four layers, namely a BSP layer, a DRV layer, an APP layer and a COM serial port layer, wherein the BSP layer, the DRV layer and the APP layer are distributed in sequence, and each layer can only interact with modules at the lower layer; the interface of each layer performs data encapsulation and abstraction to the upper layer;
And the BSP layer, the DRV layer and the APP layer are distributed to carry out general component management through the COM serial port layer.
Further, the BSP layer includes the following driving modules: the COM driving module, the CAN driving module, the IO driving module and the ETH driving module are used for carrying out interface management on navigation controllers of different models by each driving module to form a plate configuration package;
the DRV layer comprises a peripheral module: the positioning module, the chassis, the scheduling, the pressure sensor and the remote controller are configured and managed aiming at an unused scheme to form a scheme peripheral configuration package;
The APP layer comprises an item actual functional module: navigation, vehicle management and vehicle protection, realizing unmanned vehicle logic function management, and forming a service function package;
the COM serial port layer comprises a general algorithm component: CRC, task, PID, log management, parameter management, providing generic component management.
Furthermore, the AGV navigation control embedded software architecture adopts an object-oriented design mode, realizes the packaging, inheritance and polymorphism characteristics of the software modules based on the C language, classifies and abstract designs various software modules, and comprises equipment software modules and element software modules;
the equipment software module is used for abstracting various types of controllers and sensors on AGVs in the real world into a data structure for interaction;
The element software modules take data streams as cores, variables are DEVICE, PARA, TASK, IN, OUT, INOUT types, wherein the DEVICE is a DEVICE class handle, and one element software module comprises a plurality of DEVICE class structures; the PARA is a parameter used for storing all the parameters used by the element type software module; TASK is TASK, which is used to store TASK handle needed by the element software module to execute; IN is input data indicating the component class software module input data stream; OUT is output data indicating the component class software module to output a data stream; INOUT is input-output data indicating whether the component class software module data stream is input or output.
Further, intermediate components are deployed in the BSP layer, the DRV layer and the APP layer, and the intermediate components are used for first defining behavior logic of configuration development by matching with middleware provided by configuration design; and the second is a middleware which is matched with the interconnection between the equipment software module and the element software module and is used for restricting the data flow direction and defining the symbols among the configuration elements.
On the other hand, based on the above architecture, the present application also provides a structural design method of the above architecture, which includes the following steps:
s1, performing visual configuration development on an AGV product to generate an original XML configuration file;
s2, generating an engineering XML configuration file according to the original XML configuration file description information and configuration information required by a controller software architecture;
S3, finally, a product software engineering file package is exported according to the configuration information of the engineering XML configuration file, and the product software engineering file package contains all source codes; the source code comprises initializing configuration of a BSP layer and a DRV layer, and module association relation configuration of module configuration software of an APP layer is completed;
S4, opening the source code by using an IDE tool, enabling a user to enter each module file to write a service logic code, and perfecting PARA and TASK interface information; when the module interface information needs to be updated, the original XML configuration file is imported again through the configuration software, the configuration updating operation of the interface is carried out, the engineering XML configuration file is regenerated after the configuration updating operation is completed, only the appointed area in the user module in the newly generated engineering XML configuration file is subjected to content retaining processing, and the other files are regenerated and covered, so that the consistency of the original XML configuration file and the engineering XML configuration file is ensured.
Further, the method includes initialization of DEVICE, IN, OUT, INOUT interfaces, and initialization of DRV layer devices.
Further, the engineering XML configuration file records software module information and configuration parameters.
The AGV navigation control embedded software architecture design method based on the configuration provided by the embodiment of the invention mainly has the following beneficial effects:
1) The abstract interface design standard and design principle of each level of modularized software under the AGV configuration embedded software architecture are defined.
2) The relationships between devices and modules are standardized and classified, and abstract connectors are defined in a software framework to correspond to the standardized relationships.
3) The general configuration design flow is provided, the model information is filtered successively from the development flow, the complex information processing coupling degree is reduced, and the software architecture is convenient to upgrade and expand.
The software architecture provided by the invention not only supports multi-person multi-professional division development in an AGV development project and reduces compatibility and matching problems caused by calling of codes of each level, but also supports multiplexing and packaging of codes of each level in the software development project and shortens the research and development period of project products. In addition, individual modules can also be independently and carefully tested and evaluated, adapting to fine-grained management of AGV navigation software.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a hierarchical model diagram of an AGV navigation control embedded software architecture based on configuration in accordance with the present application;
FIG. 2 is a block diagram of DAM device class software modules, for example, DAM3060 devices;
FIG. 3 is a block diagram of a standard module data structure in an embodiment;
FIG. 4 is a flow chart of a conventional AGV product configuration development.
Detailed Description
The present invention will be described in further detail below with reference to the drawings and detailed description, wherein the described embodiments are provided as examples of the invention, and other embodiments, which are obtained by persons skilled in the art without making any inventive work, are within the scope of the invention.
Example 1
Fig. 1 is a schematic diagram of an AGV navigation control embedded software architecture based on a configuration in an embodiment of the present invention, where the AGV navigation control embedded software architecture is divided into four layers, including a BSP layer, a DRV layer, an APP layer, and a COM serial port layer, and the BSP layer, the DRV layer, and the APP layer are sequentially distributed, and each layer can only interact with modules on the lower layer; the interface of each layer performs data encapsulation and abstraction to the upper layer;
And the BSP layer, the DRV layer and the APP layer are distributed to carry out general component management through the COM serial port layer.
Further, the BSP layer includes the following driving modules: the COM driving module, the CAN driving module, the IO driving module and the ETH driving module are used for carrying out interface management on navigation controllers of different models by each driving module to form a plate configuration package;
the DRV layer comprises a peripheral module: the positioning module, the chassis, the scheduling, the pressure sensor and the remote controller are configured and managed aiming at an unused scheme to form a scheme peripheral configuration package;
The APP layer comprises an item actual functional module: navigation, vehicle management and vehicle protection, realizing unmanned vehicle logic function management, and forming a service function package;
the COM serial port layer comprises a general algorithm component: CRC, task, PID, log management, parameter management, providing generic component management.
Furthermore, the AGV navigation control embedded software architecture adopts an object-oriented design mode, realizes the packaging, inheritance and polymorphism characteristics of the software modules based on the C language, classifies and abstract designs various software modules, and comprises equipment software modules and element software modules;
the equipment software module is used for abstracting various types of controllers and sensors on AGVs in the real world into a data structure for interaction;
The element software modules take data streams as cores, variables are DEVICE, PARA, TASK, IN, OUT, INOUT types, wherein the DEVICE is a DEVICE class handle, and one element software module comprises a plurality of DEVICE class structures; the PARA is a parameter used for storing all the parameters used by the element type software module; TASK is TASK, which is used to store TASK handle needed by the element software module to execute; IN is input data indicating the component class software module input data stream; OUT is output data indicating the component class software module to output a data stream; INOUT is input-output data indicating whether the component class software module data stream is input or output.
Further, intermediate components are deployed in the BSP layer, the DRV layer and the APP layer, and the intermediate components are used for first defining behavior logic of configuration development by matching with middleware provided by configuration design; and the second is a middleware which is matched with the interconnection between the equipment software module and the element software module and is used for restricting the data flow direction and defining the symbols among the configuration elements.
1) Software hierarchy
The AGV navigation software architecture is divided into four layers of structures, namely BSP, DRV, APP, COM four parts, wherein each layer can only access a lower layer module, and each layer of interface is required to carry out data encapsulation and abstraction to an upper layer. The method aims at decoupling and classifying various types of controllers, sensors and business logic in the AGV product, and realizing the functions of AGV navigation software through different combined programming.
Wherein, BSP: the device comprises a common driving module, such as COM, CAN, IO, ETH, and the like, and performs interface management on navigation controllers of different models to form a plate configuration package.
As shown in fig. 2, taking the DAM3060 device as an example, the DRV: the system comprises common peripheral modules such as a positioning module, a chassis, a scheduling module, a pressure sensor, a remote controller and the like, and can perform configuration management aiming at an unused scheme to form a scheme peripheral configuration package.
APP: the system comprises project actual function modules, such as navigation, vehicle management, vehicle protection and the like, realizes unmanned vehicle logic function management, and forms a service function package.
COM: including generic algorithm components such as CRC, task, PID, log management, parameter management, etc., provide generic component management for the remaining functional packages.
2) Apparatus and module
The software architecture adopts an object-oriented design mode, realizes the packaging, inheritance and polymorphism characteristics of the software modules by utilizing the technical characteristics of the C language, classifies and abstracts various software modules into equipment classes and module classes.
The equipment type features mainly emphasize that the 'method' is used as a core, and various types of controllers and sensors on AGVs in the real world are abstracted into a data structure for interaction of the 'method'.
Because the C language has no division resembling "private variables" and "public variables" in the c++ language, the data structure is divided into two parts, "upper-layer invisible" and "upper-layer visible" corresponding to "private variables" and "public variables", the "upper-layer invisible" part contains module internal variables, process data, etc., and the "upper-layer visible" part contains user interfaces and methods provided by the device class, using the C language structure characteristics. Fig. 3 is a device class structure of DAM 3060.
The module type features mainly emphasize that the data flow is used as a core, the AGV navigation software business logic is decomposed into a plurality of functional modules, the module structure is decomposed uniformly, the module structure standardization is realized, and the function uniform management and constraint of each part in the module structure are realized through the public components.
As shown in FIG. 3, a standard software module architecture variable can be generalized to DEVICE, PARA, TASK, IN, OUT, INOUT. Wherein,
DEVICE is a DEVICE class handle and a module may need to contain multiple DEVICE class structures.
PARA is a parameter that stores all of the parameters used by the module.
TASK is a TASK, which stores TASK handles required for execution of the module.
IN is input data indicating that the module is inputting a data stream, the direction of which is unidirectional.
OUT is output data indicating that the module is outputting a data stream, the direction of which is unidirectional.
INOUT is input-output data indicating that the module data stream can be either input or output, and the direction of the data stream is bi-directional.
3) Intermediate assembly
The middle component functions mainly comprise two types, namely a middle piece provided by matching with a configuration design, which is used for defining behavior logic of configuration development, and a middle piece which is matched with interconnection between equipment type software modules and element type software modules, which is mainly used for restricting data flow direction and the like, and defining symbols among elements of the configuration modules. Table 1 is the main intermediate component table.
TABLE 1
Example 2
As shown in fig. 4, based on the architecture provided in embodiment 1, the present application further provides a method for designing the architecture, which includes the following steps:
s1, performing visual configuration development on an AGV product to generate an original XML configuration file;
s2, generating an engineering XML configuration file according to the original XML configuration file description information and configuration information required by a controller software architecture;
S3, finally, a product software engineering file package is exported according to the configuration information of the engineering XML configuration file, and the product software engineering file package contains all source codes; the source code comprises initializing configuration of a BSP layer and a DRV layer, and module association relation configuration of module configuration software of an APP layer is completed;
S4, opening the source code by using an IDE tool, enabling a user to enter each module file to write a service logic code, and perfecting PARA and TASK interface information; when the module interface information needs to be updated, the original XML configuration file is imported again through the configuration software, the configuration updating operation of the interface is carried out, the engineering XML configuration file is regenerated after the configuration updating operation is completed, only the appointed area in the user module in the newly generated engineering XML configuration file is subjected to content retaining processing, and the other files are regenerated and covered, so that the consistency of the original XML configuration file and the engineering XML configuration file is ensured.
Further, the method includes initialization of DEVICE, IN, OUT, INOUT interfaces, and initialization of DRV layer devices.
Further, the engineering XML configuration file records software module information and configuration parameters.
The following describes a specific implementation procedure of the design method provided by the present application in combination with an example:
Configuration and development
The system comprises a AGV, a controller software architecture, a configuration software, an original XML configuration file, a project XML configuration file, software module information and configuration parameters, a product software project file package and all source codes, wherein the AGV is supported by the configuration software of the upper computer architecture, the user performs visual configuration development on the AGV, the user checks the configuration of the user after the configuration development is completed, the original XML configuration file is generated according to the configuration information required by the controller software architecture and the description information of the file, the software module information and the configuration parameters are recorded in detail, and finally, the project file package of the product software is exported according to the configuration information of the project XML configuration file, and the file package covers all generated source codes, wherein the configuration software has completed initialization configuration of BSP and DRV layers, the configuration of module association relation of module configuration software of an APP layer has been completed, and the initialization of DEVICE, IN, OUT, INOUT interfaces and the DRV layer equipment are initialized.
And opening engineering files by using an IDE tool, and enabling a user to enter each module file to write service logic codes so as to perfect PARA and TASK interface information. When the module interface information needs to be updated, the XML file can be imported again through the configuration software to perform configuration updating operation of the interface, the engineering file is regenerated after the configuration updating operation is completed, only the appointed area in the user module in the newly generated engineering file is subjected to content retaining processing, and the other files are regenerated and covered, so that the consistency of the XML and the engineering code is ensured.
1) And according to the specification and the task book of the software product requirement, defining AGV product configuration and service software modules, and deriving an original XML configuration file. The generation principle of the original configuration file mainly converts the graphical information into a structured text, and flow decoupling is realized without aiming at a special application.
Taking ChassisMutual modules and ProtectManage modules as examples, the ChassisMutual module outputs own fault words to the ProtectManage module for fault protection of the AGV vehicle, and the generated original XML configuration file shows a connection relation from the ChassisMutual module to the ProtectManage module, and each module takes a unique ID number as an information index, so that information extraction work is conveniently carried out through XML.
The device association relationship takes ChassisMutual as an example, blueANT is an indoor positioning device, the communication port is an RS232 interface, and the original XML configuration file also shows the corresponding connection relationship.
The parameters of each module are also expressed in an XML file, and the information such as the baud rate, the data bit number and the like is recorded in the XML file by taking the Com port configuration parameters under BlueANT as an example.
2) The method is characterized in that original XML configuration is converted into an application XML configuration file, and the core principle is that according to the application XML configuration format, information required by screening, extracting and counting is filled in the application XML configuration file from the original XML configuration file, and the file can be used as the only basis for finally generating AGV navigation control software engineering.
3) And generating an AGV product navigation control software engineering code according to the configuration information of the application XML configuration file. It can be seen from fig. 4 that the generation of the engineering code from XML is mainly achieved by templated naming rules using the connected components of the software architecture.
4) The developer directly writes business logic and data processing on the generated code engineering according to business requirements, and can also utilize a component library provided in a software architecture to provide support for the algorithm.
The foregoing is merely a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto, and several modifications and adjustments can be made by those skilled in the art within the technical scope of the present invention disclosed herein. Therefore, the protection scope of the present invention should be subject to the protection scope of the claims.

Claims (7)

1. The AGV navigation control embedded software architecture is characterized by being divided into four layers, namely a BSP layer, a DRV layer, an APP layer and a COM serial port layer, wherein the BSP layer, the DRV layer and the APP layer are distributed in sequence, and each layer can only interact with the modules at the lower layer; the interface of each layer performs data encapsulation and abstraction to the upper layer;
And the BSP layer, the DRV layer and the APP layer are distributed to carry out general component management through the COM serial port layer.
2. The configuration-based AGV navigation control embedded software architecture of claim 1, wherein the BSP layer comprises the following driver modules: the COM driving module, the CAN driving module, the IO driving module and the ETH driving module are used for carrying out interface management on navigation controllers of different models by each driving module to form a plate configuration package;
the DRV layer comprises a peripheral module: the positioning module, the chassis, the scheduling, the pressure sensor and the remote controller are configured and managed aiming at an unused scheme to form a scheme peripheral configuration package;
The APP layer comprises an item actual functional module: navigation, vehicle management and vehicle protection, realizing unmanned vehicle logic function management, and forming a service function package;
the COM serial port layer comprises a general algorithm component: CRC, task, PID, log management, parameter management, providing generic component management.
3. The embedded AGV navigation control software architecture based on the configuration according to claim 1, wherein the embedded AGV navigation control software architecture adopts an object-oriented design mode, realizes the packaging, inheritance and polymorphism characteristics of software modules based on a C language, classifies and abstract designs various software modules, and comprises equipment software modules and element software modules;
the equipment software module is used for abstracting various types of controllers and sensors on AGVs in the real world into a data structure for interaction;
The element software modules take data streams as cores, variables are DEVICE, PARA, TASK, IN, OUT, INOUT types, wherein the DEVICE is a DEVICE class handle, and one element software module comprises a plurality of DEVICE class structures; the PARA is a parameter used for storing all the parameters used by the element type software module; TASK is TASK, which is used to store TASK handle needed by the element software module to execute; IN is input data indicating the component class software module input data stream; OUT is output data indicating the component class software module to output a data stream; INOUT is input-output data indicating whether the component class software module data stream is input or output.
4. The configuration-based AGV navigation control embedded software architecture according to claim 1, wherein intermediate components are deployed in the BSP layer, the DRV layer, and the APP layer, and the intermediate components are used for first defining behavior logic of configuration development in cooperation with middleware provided by a configuration design; and the second is a middleware which is matched with the interconnection between the equipment software module and the element software module and is used for restricting the data flow direction and defining the symbols among the configuration elements.
5. The method for designing an embedded software architecture for a configuration-based AGV navigation control according to claim 1, wherein the method comprises the steps of:
s1, performing visual configuration development on an AGV product to generate an original XML configuration file;
s2, generating an engineering XML configuration file according to the original XML configuration file description information and configuration information required by a controller software architecture;
S3, finally, a product software engineering file package is exported according to the configuration information of the engineering XML configuration file, and the product software engineering file package contains all source codes; the source code comprises initializing configuration of a BSP layer and a DRV layer, and module association relation configuration of module configuration software of an APP layer is completed;
S4, opening the source code by using an IDE tool, enabling a user to enter each module file to write a service logic code, and perfecting PARA and TASK interface information; when the module interface information needs to be updated, the original XML configuration file is imported again through the configuration software, the configuration updating operation of the interface is carried out, the engineering XML configuration file is regenerated after the configuration updating operation is completed, only the appointed area in the user module in the newly generated engineering XML configuration file is subjected to content retaining processing, and the other files are regenerated and covered, so that the consistency of the original XML configuration file and the engineering XML configuration file is ensured.
6. The design method of claim 1, wherein the method comprises initialization of DEVICE, IN, OUT, INOUT interfaces and initialization of DRV layer devices.
7. The design method according to claim 5 or 6, wherein the engineering XML configuration file records software module information and configuration parameters.
CN202311632110.5A 2023-11-30 2023-11-30 AGV navigation control embedded software architecture based on configuration and design method Pending CN117971168A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202311632110.5A CN117971168A (en) 2023-11-30 2023-11-30 AGV navigation control embedded software architecture based on configuration and design method

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202311632110.5A CN117971168A (en) 2023-11-30 2023-11-30 AGV navigation control embedded software architecture based on configuration and design method

Publications (1)

Publication Number Publication Date
CN117971168A true CN117971168A (en) 2024-05-03

Family

ID=90857019

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202311632110.5A Pending CN117971168A (en) 2023-11-30 2023-11-30 AGV navigation control embedded software architecture based on configuration and design method

Country Status (1)

Country Link
CN (1) CN117971168A (en)

Similar Documents

Publication Publication Date Title
CN107341294B (en) Modelica language-based spacecraft information system modeling simulation method
Nordstrom et al. Metamodeling-rapid design and evolution of domain-specific modeling environments
CN108509185B (en) System and method for arbitrary software logic modeling
CN105137943B (en) A kind of micro-hybrid system integration control device
JP2001109628A (en) Software system and its developing method
CN110221815B (en) Automatic generation method of control software model based on ontology
CN102289593A (en) Multidisciplinary virtual experiment interactive simulation solution system
WO2014147468A1 (en) Tool compiler
CN101634833B (en) Open type configuration method and system for IO parameters of field device
Annighoefer et al. Holistic IMA platform configuration using web-technologies and a domain-specific model query language
CN114117645B (en) Ship overall performance forecasting integrated application system
US7831316B2 (en) Device and method for programming and/or executing programs for industrial automation systems
CN115758789B (en) Software architecture design and architecture transfer method of complex real-time embedded system
Chonghun et al. Agent-based approach to a design support system for the synthesis of continuous chemical processes
CN111459062B (en) Virtual-real shared complex information physical product digital twin control logic generation method
CN117971168A (en) AGV navigation control embedded software architecture based on configuration and design method
CN116909543A (en) OT domain industrial component modeling and code generation method based on micro-service architecture
CN115906491A (en) Method and system for converting SysML model into structural model
CN117492723A (en) Automatic industrial software code generation method based on data and behavior model
CN106897120A (en) Double-deck dynamic Distributed Simulation Platform
CN114461186A (en) Method for automatically compiling and running C/C + + code for Huaji Shengteng accelerator card
CN116324652A (en) Mixing operation of production units in a mixing plant
Axelsson Holistic object-oriented modelling of distributed automotive real-time control applications
Qu et al. Distributed control application platform-a control platform for advanced manufacturing systems
Anderson Creating and Manipulating Formalized Software Architectures to Support a Domain-Oriented Application Composition System

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination