Verhaert Innovation Day 2011 – Koenraad Rombaut & Michiel De Paepe (VERHAERT) - Model Based...
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Transcript of Verhaert Innovation Day 2011 – Koenraad Rombaut & Michiel De Paepe (VERHAERT) - Model Based...
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CONFIDENTIAL
26.10.2012 Slide 1
CONFIDENTIAL
Model Based Design for Embedded Control Systems
Koenraad Rombaut
Coordinator applied physics & systems
Michiel De Paepe
Consultant applied physics & systems
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CONFIDENTIAL
26.10.2012 Slide 2
Model Based Design in general:
• What ?
• Why ?
• How ?
A model based design case study:
• Case study
• Models
• Conclusions & demonstration
Content
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CONFIDENTIAL
26.10.2012 Slide 3
What ? Model driven engineering ?
Model based development ?
Build model Plant / Process
Product design
Design Concepts
Verification
Implement Product code
Testing
Mo
del s
pace
C
od
e s
pace
Model = system + control + environment + stimuli
Multi-domain = control + system behaviour
Coupling / transformations models design
requirements design implementation test scenario
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CONFIDENTIAL
26.10.2012 Slide 4
Why ?
Why ?
• Cheaper & faster
• Higher reliability
• Better definition
When ?
• Complex processes / designs Complex control strategies
• High reliability
• Early validation
• Fast developments
• Changing requirements
Outputs:
• design inputs
• insights
• derisk
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CONFIDENTIAL
26.10.2012 Slide 5
Why : definition
Communication
between disciplines,
with customer & subcontractors,
over project phases
Re-use of subsystems
Safety factor for (sw) budget &
schedule
Needs Requirements Specs Design Implementation Documentation
Needs (what do we want) vs.
specifications (how do we define)
Specifying new (innovating) products
and subsystems
Changing requirements
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CONFIDENTIAL
26.10.2012 Slide 6
Why simulation : early validation
Benefits
• More and faster iterations
• Parallel hw & sw development
• Multiple off-nominal and fault
testing (non feasible tests)
• Early full system validation
and risk mitigation without hw
• Less real-life testing
(= the poor man’s approach)
• More optimal system design
by sw-physics co-simulation
• Improved communication &
design specification
=> time & cost reduction
Traditional:
• sequential = lengthy
• validation on hw = late
Model based:
• Parallel = fast
• validation on model = early
Device
Requirements
System
Design
Subsystem
requirements
Detailled
Design
Functional
Test
Component
Test
Device
Validation
System
Verfication
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CONFIDENTIAL
26.10.2012 Slide 7
Why early: cost vs. freedom
• Design & test
freedom
• Unlimited
measurements
in simulation
• Lots of risks
• Cost (project,
build,
measurement,
change)
• Real world
representation
• Number of
people
involved
Lab
model
Field
model Virtual
model
Ris
k / E
ffo
rt
Time
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CONFIDENTIAL
26.10.2012 Slide 8
Re-use proven tools from high reliability
domains?
• Space, aeronautics, nuclear, automotive,
chemical plants
• Domain specific tools
• Tool cost not an issue
• Long learning curve, less flexibility
Need for a new toolchain
• affordable
• flexible, scalable
for generic developments
• easy learning (graphical ?)
• open (no vendor lock-in)
• automatic transformations
How ?
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CONFIDENTIAL
26.10.2012 Slide 9
How: examples
Multi domain tools:
• Matlab/Simulink +
SimMech+StateFlow
+ RTW + AutoSar
• Dymola / Modelica
• LabView
• SysML / Raphsody
Some research projects
• Modelisar: Modelica +
Autosar
• Destecs: co-sim CT + DE
• Deploy: B for dependable
sw
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CONFIDENTIAL
26.10.2012 Slide 10
How : Modelisar / Autosar ?
Application sw
Hardware
standardized
HW-specific
Customer needs
Adaptive Cruise Control
Lane Departure
Warning
Advanced Front
Lighting System
Using standards
Communication Stack
OSEK
Diagnostics
CAN, FlexRay
Autosar =
Automotive
hw interface
Modelica =
Plant modelling
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CONFIDENTIAL
26.10.2012 Slide 11
Case study : excavator with Destecs
Complex
• manual operations
• => inherent fault tolerant design
• 3D dynamic motion, digging map & boundaries
• unknown soil conditions
• multidomain: hydraulics, mechanics, sw
Well known case
• Manual operator as a reference
• Scalable & testable
Destecs differentiators:
• discrete event (sw) & continuous time (physics)
• fault injection & error checking
• open
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CONFIDENTIAL
26.10.2012 Slide 12
Model Based Design in general:
• What ?
• Why ?
• How ?
A model based design case study:
• Case study introduction
• Models
• Scale model
• Continuous time model
• Discrete event model
• Conclusions & demonstration
Content
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CONFIDENTIAL
26.10.2012 Slide 13
DESTECS inspiration
• Inspiration
• Use collaborative multidisciplinary design of Embedded Systems
• Rapid construction and evaluation of system models
• Evaluated on industrial applications
• Need because of Embedded Systems
• More demanding functional & non-functional requirements
• Reliability, Fault Tolerance
• Increasingly distributed
• More design possibilities, and faults
• Communication between physics and control
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CONFIDENTIAL
26.10.2012 Slide 14
DESTECS approach
• Methods and Open tools
• Model-based approach for collaborative design of ECS
• Co-simulation
• Different tools, reflecting relevant aspects of design
• Rapid, consistent analysis & comparison of models
• Advances needed in
• Continuous time modeling
• Discrete event modeling
• Fault modeling and fault tolerance
• Open tool frameworks
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CONFIDENTIAL
26.10.2012 Slide 15
Dredging
• Dredging
= Underwater excavation
• No visual
• Introducing semi automated control
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CONFIDENTIAL
26.10.2012 Slide 16
Scale model
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CONFIDENTIAL
26.10.2012 Slide 17
Actuators
Full scale Hydraulic pistons
vs.
Scale model Electric linear actuators
12V full speed out
0V no movement
-12V full speed retract
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CONFIDENTIAL
26.10.2012 Slide 18
Sensors
Incremental encoders
2 shifted square waves
Step and direction information
Driving step counter (up and down)
1 index pulse / revolution
Absolute positioning
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CONFIDENTIAL
26.10.2012 Slide 19
Continuous Time model
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CONFIDENTIAL
26.10.2012 Slide 20
3D Model
• STL-files for visualisation
• Mass & Inertia
• Dimmensions
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CONFIDENTIAL
26.10.2012 Slide 21
Discrete Event model
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CONFIDENTIAL
26.10.2012 Slide 22
Excavator model
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CONFIDENTIAL
26.10.2012 Slide 23
Operator
• Joystick inputs (from CSV files)
• Pressing buttons
• Power on
• Start/Stop
• Manual/Assisted mode
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CONFIDENTIAL
26.10.2012 Slide 24
Safety unit
• Redundant system
• In normal circumstances, no action
• Overrules controller at controller failure Software bug,
unforeseen situation,
hardware failure
• If triggered, 3 actions: Trigger emergency state on controller
Overrule output and thereby stop all motion
Cut off power to the motors (unimplemented, slows down CT)
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CONFIDENTIAL
26.10.2012 Slide 25
Controller
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CONFIDENTIAL
26.10.2012 Slide 26
Operation modes
Direct mode Assisted mode
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CONFIDENTIAL
26.10.2012 Slide 27
Assisted mode
Boom encoder
Stick encoder
Bucket encoder
X-joystick
Y-joystick
Scoop-joystick
Kinematics Inverse
kinematics
Angular velocities:
Boom, Stick,
Bucket
Actuator velocities:
Boom, Stick,
Bucket Boom linear actuator
Stick linear actuator
Bucket linear actuator
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CONFIDENTIAL
26.10.2012 Slide 28
Conclusions
• Ability to implement large level of complexity at both sides:
Physics and Controller
• Currently it’s an academic tool, not mature.
• Steep learning curve, only for large and complex projects
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CONFIDENTIAL
26.10.2012 Slide 29
Excavator : current practice
Mechanics
• 3D CAD
System design
• requirements doc
• architecture doc
• design specs doc
Electronics
• schematic
Hydraulics
• 1D model
control sw
• C-code
Detailed design
Build &
Integration
Final product
• Test & verification
sensor
actuator
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CONFIDENTIAL
26.10.2012 Slide 30
20sim
• continuous time
• multi-disciplinary
• graphical
• open libraries with
validated components
• from high level to detailed
Co-Sim IF
• version tracking
• co-sim solver
• design space exploration
• fault injection
VDM++
• discrete event
• inherent condition checking
• formal
• graphical (via UML)
• support for sw methods
• C-code generation
Excavator : with DESTECS
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CONFIDENTIAL
26.10.2012 Slide 31
CONFIDENTIAL
Time for a demonstration
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CONFIDENTIAL
26.10.2012 Slide 32
Any questions?
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CONFIDENTIAL
26.10.2012 Slide 33
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tel +32 (0)3 250 19 00
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