单片机类设计英文翻译.docx
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单片机类设计英文翻译.docx
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单片机类设计英文翻译
单片机类毕业论文设计
英文资料翻译
Amodeling-basedmethodologyforevaluatingtheperformanceofareal-timeembeddedcontrolsystem
KlemenPerko,RemyKocik,RedhaHamouche,AndrejTrost
ABSTRACT
Thispaperpresentsamodelling-basedmethodologyforembeddedcontrolsystem(ECS)design.Here,insteadofdevelopinganewmethodologyforECSdesign,weproposetoupgradeanexistingonebybridgingitwithamethodologyusedinotherareasofembeddedsystemsdesign.Wecreatedatransformationbridgebetweenthecontrol-schedulingandthehardware/software(HW/SW)co-designtools.Bydefiningthisbridge,weallowforanautomaticmodeltransformation.Asaresult,weobtainmoreaccuratetiming-behavioursimulations,consideringnotonlythereal-timesoftware,butalsothehardwarearchitecture’simpactonthecontrolperformance.Weshowanexamplewithdifferentmodel-evaluationresultscomparedtorealimplementationmeasurements,whichclearlydemonstratesthebenefitsofourapproach.
©2011ElsevierB.V.Allrightsreserved
KEYWORDS:
Modeling,Modeltransformations,Embeddedcontrolsystemsdesign,Real-timesystems
1.Introduction
Embeddedcontrolsystems(ECSs)areubiquitousnowadays.Theyareusedinabroadspectrumofapplications,fromsimpletemperaturecontrolinhouseholdappliancestocomplexandsafety–criticalautomotivebrakesystemsoraircraftflightcontrolsystems.Differentapplicationshavedifferentdemandswithregardstothereal-timeexecution,controlperformance,energyconsumption,price,etc.,oftheECSbeingused.Moderntechnologiesforhardware(HW)andsoftware(SW)designprovideavarietyofpossibilitiesfordesigningECSs(e.g.,distributedandnetworkedHW,multi-processorsystems,avarietyofSWcontrolalgorithmsandreal-timeoperatingsystems(RTOSs),etc.)[1].ItiscommonlyacknowledgedthatthedesigningandverifyingofreliableandefficientECSsforaparticularapplicationarechallengingtasks.
1.1.Traditionalcontrol-systemdesign
TheaimofdesigninganECSistobuildacomputingsystemthatisabletocontrolthebehaviorofaphysicalsystem,e.g.,aplant.Suchaplantismadeupofinterconnectedmechanical,electricaland/orchemicalelements.AtypicalECSconsistsofelectronicsensorsfordataacquisitionfromtheplant,acomputingsystemforprocessingthecontrolalgorithm,andelectronicactuatorstodrivetheplant.
TheECSdesignprocessinvolvesdifferentactorsandareasofexpertise(controltheory,signalprocessing,real-timeSWandHWengineers).Eachoftheseengineersisfamiliarwiththeirownmodelinglanguages,models,designtools,etc.Thisheterogeneityintroducescutsinthedesignprocess.Modeltransformationsareneededbetweeneachdesignstep;however,theyareoftencarriedoutmanuallyand,asaresult,arepronetomistakesandsubjecttointerpretation,whichofcoursedependsontheskillofthedesigner.ThetraditionalformofECSdesignisperformedintwoseparateddomains–thecontrolSWdomainandtheHWdomain–usingspecificdesigntoolsandtheirrespectivesystemmodels.Inthefirstdomain,controlengineersdefinethecontrollawsandtheSWengineerswritethecodethatexecutestheoperationsrequiredbythecontrollaws.Aso-calledcontrol-schedulingco-designisperformed.Decisionsmadeinthereal-time(RT)softwaredesignaffectthecontroldesign,andviceversa.Forinstance,differentSWschedulingpolicieshavedifferentimpactsonthelatencydistributionsinthecontrolloopsand,consequently,ontheirperformance.Also,thecontrol-loopperformancedirectlyaffects(byconstraining)theSWexecutionparameters(i.e.,samplingperiods,task-executionjitter,etc.).
IntheseconddomaintheHWengineersdesignanHWplatformthatwillexecutethecontrolSW.Theconnectionsofallthesensorsandactuatorstotheplatformaremadeviatheavailablecommunicationchannels.However,becausetheHWplatformisdesignedseparately,controlengineerscannotestimateitsimpactonthecontrol-loopperformance.Forinstance,thedatafromsensorsandtoactuatorscanpassthroughoneormorecommunicationchannels.AHWengineercan,ingeneral,choosefromamongavarietyofcommunicationprotocols,andeachtypeintroducesdifferentlatenciesandjitter,whichthereforeaffectstheSWexecution.Thecontrolengineercannot,however,evaluatetheeffectoftheselatenciesbeforethesystemisactuallyimplemented.Hence,thedesiredperformanceofthesystemmaynotbeachieved,anditisnecessarytochangeandtunethecontrollaws(calibrationphase)inordertocompensatefortheimpactofthesecommunicationandexecutiondelays.Thefactthatthecalibrationhastobeperformedonanactualplantcanbeveryexpensiveandtime-consuming,especiallywhenthedesiredperformancecannotbeachievedusingthecurrentHWplatformandaredesignisrequired.AnothershortcomingoftraditionalECSdesignistheinabilityofcontrolandSWengineerstoexploitsomeoftheadvantagesofferedbymodernHWtechnologies.Forinstance,controlloopsrunninginparallel,insteadofthetraditionalsequentialexecution,couldgivebetterperformance.Parallelexecutioncanbeachievedwiththeuseofmulti-processorordistributedplatforms.
ModernECSdesigntechniquesrelyheavilyonsystemmodeling,whichprovidesameanstoexaminehowvariouscomponentsworktogetherandtoestimatetheimpactoftheECS’simplementationoncontrolperformancebeforeitisactuallyimplemented.Thismakesitpossibletocorrecttheinitialcontrollawsinordertocompensatefortheimplementationimpactsearlyinthedesigncycle.Anotherimportantaspectofmodelingistheabilitytoexploredifferentpossiblesystemimplementations(design-spaceexploration).AppropriatemodelingcansignificantlyshortenthedesigncycleofanECS[2].
Toovercometheproblemsintroducedbytheheterogeneityofdesignmodelsandtools,differentmethodologiesandtoolsweredeveloped[3].ThesemethodologiesusuallyprovideameanstocreateauniformECSmodel,simulateandevaluateitsbehavior,formallytransformittowardsanimplementation,etc.
1.2.Proposedcontrolsystemdesign
ToimproveandacceleratethetraditionalECSdesignweproposethemergingoftheseseparateddomains.Onthebasisofthismerging,alltheactorsinthedesignprocesscouldbettercollaborateandexchangetheirdataduringthedesignprocess,theycoulddoamorethoroughdesign-spaceexplorationandthedesigncyclecouldbemadesignificantlyshorter.InsteadofdevelopinganewmethodologyforECSdesign,weproposetoupgradethetraditionalSW-basedcontrol-systemdesignapproachwithefficientmodelinganddesignoftheHWplatforms.Recently,severalmethodologieshavebeendevelopedthatconcernHW/SWco-design.ThesemethodologiesenabletheefficientdesignofSWandHWonembeddedsystemsintermsofSWexecutionspeed,HWresourcesusage,systemflexibility,futureupgradeability,finaldesigncosts,etc.Weproposecreatingaformalbridgebetweentheexistingtoolsforcontrol-schedulingco-designandHW/SWco-design.Thisbridgemakespossiblemodeltransformationsandtheexchangeofsimulationresultsbetweentoolsforcontrol-schedulingco-designandHW/SWco-design.
Thebridgeisbasedonaformaltransformationofmodelsbetweendifferentdesigntools.Ourfoundationforthecontrolschedulingco-designmethodologyisworkpresentedin[4]anditsassociatedtool,MoDEST,whichispresentedin[5].ForthepurposeofHW/SWco-designwehaveselectedthemethodologypresentedin[6]withitsassociatedabstract-systemmodelingtool,ASyMod,whichispresentedin[7].Withthebridgeweareabletoobtainmoreaccuratecontrol-performanceevaluationsconsideringarchitecturaldetailsandeventhepossibilitytostudymixedHW/SWimplementationsofthecontrolsystem.Evaluatingtheimpactofimplementationintheearlydesignstagesreducesthenumberofdesign-lifecycleiterationsandshortensthetimeneededforafinalcalibrationofthecontrollaws.
Inthenextsectionwepresenttherelatedmethodologies,followedbyshortdescriptionsoftheMoDESTandASyModtoolsandtheirmetamodels.InSection3wedescribetheformalrulesformodeltransformationandtheimplementationofthebridge.InSection4,twoexamplesofanembeddedcontrollerarepresented.Bycomparingsimulationresultstomeasurementsonarealimplementedsystem,weshowthebenefitsofourapproach.Finally,thepaperisconcludedinSection5.
1.3.Relatedmethodologiesandtools
TheincreasingneedtooptimizeECSsintermsoftheircontrolperformance,RTconstraintsandcostefficiencyhasledtolimitedcomputationalresourcescombinedwiththeirefficientexploitationandhas,asaconsequence,encouragedtheemergenceofnewresearchareas.
Domain-specifictoolsforcontrol-schedulingco-designhavebeendevelopedrecently.Thesetoolssupportimplementationmodelingandanalysisintermsofcontrolperformance.SeveralofthetoolsarebasedonMatlab,whichistraditionallyusedbycontrolengineersforthedesignofcontrollaws.TheAIDA[8]toolsetisamodel-basedenvironmentforthedesignandanalysisofcontrolsystems,usedeitherinstand-aloneformorwithMatlab.Thetoolsetsupportsthemodelingofcontrol-functionexecutionondistributedHWcomponentscontainingmulti-processorsandcommunicationslinks.Theeffectsofthecontrolalgorithm’simplementationoncontrolperformancecanbeanalyzed.Jitterbug[9]isaMatlab-basedanalysistoolforcomputingaquadraticperformancecriterioninlinearcontrolsystemsundervarioustimingconditions.UsingJitterbug,thesensitivityofcontrolsystemstodelays,jitterandotherinterferencescanbestudied.TheeffectsofdifferentSWimplementati
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