DESIGN OF A MOTORCYCLE ENGINE CONTROL UNIT USING AN INTEGRATED CONTROL.docx
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DESIGN OF A MOTORCYCLE ENGINE CONTROL UNIT USING AN INTEGRATED CONTROL.docx
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DESIGNOFAMOTORCYCLEENGINECONTROLUNITUSINGANINTEGRATEDCONTROL
DESIGNOFAMOTORCYCLEENGINECONTROLUNITUSINGANINTEGRATEDCONTROL-IMPLEMENTATIONAPPROACH_
用综合控制执行通道对摩托车引擎控制总成的设计的讨论
AndreaBalluchi∗MariaD.DiBenedetto∗∗
AlbertoFerrari∗GiovanniGaviani∗∗∗
GiovanniGirasole∗∗ClaudioGrossi∗∗∗
WalterNesci∗∗∗MichelePennese∗∗∗
AlbertoL.Sangiovanni–Vincentelli∗,∗∗∗∗
………..人名一大堆…………
∗PARADES,ViaS.Pantaleo66,00186Rome,Italy,
地址,某某街道,意大利罗马
{balluchi,aferrari,alberto}@r.it
电子邮件地址
∗∗DIEL,Universit`adell’Aquila,PoggiodiRoio,67040L’Aquila,Italy,
{dibenede,girasole}@ing.univaq.it
∗∗∗MagnetiMarelliPowertrain,ViadelTimavo,33,40134Bologna,Italy,
{giovanni.gaviani,claudio.grossi,
walter.nesci,michele.pennese}@bologna.marelli.it
∗∗∗∗EECSDept.,UniversityofCaliforniaatBerkeley,
CA94720,USA,alberto@eecs.berkeley.edu
Abstract:
Thedesignofautomotivecontrolsystemsisbecomingincreasinglycomplexasthelevelofperformancerequiredbycarmanufacturesgrowscontinuouslyandtheconstraintsoncostanddevelopmenttimeimposedbythemarketbecometighter.
概要:
自动控制系统的设计变得日益复杂asthe汽车产品的性能水平连续增长,andthe成本的约束。
并且,开发的时间因为受市场的影响而变得更紧缩。
Successfuldesigns,withoutcostlyandtimeconsumingre-designcycles,canbeachievedonlybyusinganefficientdesignmethodologythatallowsforcomponentre-useandevaluationofplatformrequirementsattheearlystagesofthedesignflow.成功的设计,没有不计成本并且旷日持久的反复实践,是不可能达到的,除非使用一种有效率的,在早期设计流中允许成分的再利用和必须的平台的赋值的设计方法学。
Inthispaper,weillustratetheapplicationofanintegratedcontrol-implementationdesignmethodology,recentlyproposedbyourgroup,tothedevelopmentofthetopfewlayersofabstractioninthedesignflowofanenginecontrolsystemformotorcycles.
在本文中,我们要说明一个完整的控制-执行设计方法学的具体程序,它最近在我们的工作小组中被提起。
针对在摩托车引擎控制系统的设计流的最前沿的发展
Keywords:
Embeddedsystems,designmethodologies,automotivecontrol,hybridsystems.
关键词:
内部系统,设计方法论,自动控制,混合系统。
1.INTRODUCTION介绍
Anautomotiveenginecontrolunitisareactive
real-timeembeddedsystem,引擎自动控制集成是一种被动响应的实时内植系统sinceitisdesignedtocontrolthebehaviorofaphysicalsystem(namely,theengine)withtighttimingconstraints.自从它被设计以严密的时间约束来控制那物理系统的内部(也就是引擎)
Reactive_TheworkhasbeenconductedwithpartialsupportbytheEuropean
致谢-这项工作被实施的部分欧洲的支持。
CommunityProjectsIST-2001-33520
CC(ControlandComputation)andIST-2001-38314
COLUMBUS,andbythePRIN02Project.
real-timeembeddedsystems,referredtoasembeddedcontrollersalso,arethemostchallengingembeddedsystemstodesign.实时内植系统,也叫做内植控制器,是最具挑战性的内部系统
Inthestandardapproachtoembeddedcontrollerdesign,aseriousproblemisthepresentdisregardfortheinteractionofthecontrolalgorithmswiththeirimplementation.在约等于内植控制器设计的标准中,一个严重的问题是控制运算法则和实施的互动的缺失
Thisneglectleadstolongre-designcycleswhenthetimingandaccuracyrequirementsoftheapplicationsarenotmet.这个疏忽导致了当控制软件的时序和精确度的要求没被协调时的长期重复设计。
In(Antoniottietal.,1998)and(Balluchietal.,2002)theauthorsproposedageneralmethodologytobridgethegapbetweenfunctionaldesignandimplementationofembeddedcontrollers.。
。
。
。
。
提出了一种大体的方法学来衔接功能设计和内植控制器的执行之间的间隙。
Theyproposeddesignmethodologyisbasedontheprinciplesofplatform-baseddesign,他们提出设计方法学是基于平台基设计的原则的,see参见(Sangiovanni-Vincentelli,2002).Aplatform,inthiscontext,isalayerofabstractionthathidestheunnecessarydetailsoftheunderlyingimplementationandyetcarriesenoughinformationaboutthelayersbelowtopreventdesigniterations.Inthispaper,wedescribetheapplicationofthemethodologypresentedin(Balluchietal.,2002)tothedesignflowofanembeddedcontrollerintheautomotiveindustry.Inparticular,weconsiderthedesignofenginecontrolunits(ECUs)formotorcycles.
Thisapplicationisofimportancein
industrysincetighterlawsonemissionforcethe
adoptionofembeddedcontrollers,whichareconsiderably
lesscomplexthantheonesincarsbut
atthesametime,exhibitallthetightinteractions
withtheplanttypicalofcarapplicationsthat
makethedesignofECUsverychallenging.In
particular,wefocusontheupperthreelayersof
theplatform-baseddesignmethodologydescribed
in(Antoniottietal.,1998),namely,thefunctional
decompositionlayer,thecontrolstrategieslayer
andtheimplementationabstractionlayer.The
importanceoftheseplatformlayersderivesfrom
thefactthatmostofthecriticaldesignchoicesare
takenintheearlystagesofthedesignflowand
misstepsinthesestagesproducecostlyandtime
consumingre-designcycles.Hybridsystemtechniques
areextensivelyusedtoevaluatethebehavior
ofthesystemateachlayer(Antsaklis,2000).
Thepaperisorganizedasfollows.InSec.2,we
brieflyrecallthemainconceptsofplatform-based
design.InSec.3,wepresentourapproachto
functionaldecomposition,thecontrolstrategies
andtheimplementationabstractionlayersofthe
motorcycleECU.Someconcludingremarksare
presentedinSec.4.
2.PLATFORM-BASEDDESIGN
METHODOLOGY平台基础设计方法学
ThebasictenetsofthePlatform-basedDesign
Methodologyasexposedin(Sangiovanni-
Vincentelli,2002)are:
平台基础设计方法学的基本准则as…2002是
•Regardingdesignasa“meet-in-the-middleprocess”
wheresuccessiverefinementsofspecifications
meetwithabstractionsofpotentialimplementations;
•Theidentificationofpreciselydefinedlayers
wheretherefinementandabstractionprocesstake
place.
Theselayerssupportdesignsbuiltuponthem
allowingthedesignertobefreedfromlower-level
detailsbutlettingenoughinformationtranspire
Fig.1.Upperpartoftheplatformstack.
aboutlowerlevelsofabstractiontoallowdesign
spaceexplorationwithafairlyaccurateprediction
ofthepropertiesofthefinalimplementation.The
informationshouldbeincorporatedinappropriate
parametersthatannotatedesignchoicesat
thepresentlayerofabstraction.Theselayersof
abstractionarecalledplatforms.Aplatformisdefined
tobeanabstractionlayerinthedesignflow
thatfacilitatesanumberofpossiblerefinements
intoasubsequentabstractionlayer(platform)in
thedesignflow.Theabstractionlayercontains
severalpossibledesignsolutions,butlimitsthedesign
explorationspace.Duringthedesignprocess,
ateverystepwechooseaplatforminstanceinthe
platformspace.Everypairofplatforms,thetools
andmethodsthatareusedtomaptheupperlayer
ofabstractionintothelowerleveloneisaplatform
stack.Keytotheapplicationofthedesignprinciple
isthecarefuldefinitionoftheplatformlayers.
Somelayersaremoreimportantthanothersin
theoveralldesigntrade-offspace.Inparticular,
thearticulationpointbetweenfunctionaldesign
andimplementationisacriticalonefordesign
qualityandtime.Intheplatform-baseddesign
paradigm,theeffectsoftheactualimplementation
isrepresentedbyanabstractmodelcharacterized
byidealizedparameters.Eachchoiceoftheseparameters
identifiesanimplementationplatform.
Inthisview,controldesignisaplatformmapping
withasmanyimplementationdetailsasexposed
bytheimplementationplatform.
3.INTEGRATED
CONTROL-IMPLEMENTATIONDESIGNOF
AMOTORCYCLEECU
Inthissection,wepresenttheresultsoftheapplication
ofthemethodologyforintegratedcontrolimplementation
design,describedinSec.2,to
thedevelopmentofanECUformotorcycles.The
designprocess,whichincludesformalizationof
systemspecifications,functionaldecomposition
anddeployment,controllerselectionandmodeling
ofabstractionsofpotentialimplementations,has
beencarriedoutinMagnetiMarelliPowertrain
Fig.2.Functionaldecomposition.
DivisionwiththesupportofParadesandthe
UniversityofL’Aquila.Aschematicviewofthe
designprocessisshowninFig.1.
3.1FromSystemSpecificationtoFunctional
Decomposition
Totacklecomplexity,thesystemisdecomposed
intoanumberofinteractingsimplersub-systems,
calledfunctions.Thedecompositionisbasedon
theunderstandingofthephysicalprocessofinterest.
Thisfirststageisclearlyakeysteptowards
agoodqualitydesign,sinceitleadstoadesign
processthatcanbecarriedoutasindependently
aspossibleforeachcomponent(see(Antoniottiet
al.,1998)formoredetails).Bythedecomposition
process,theobjectivesandconstraintsthatdefine
thesystemspecificationaredistributedamong
thecomponents,sothatthecompositionofthe
behaviorsofthecomponents,madefeasibleand
possiblyoptimalwiththeirownconstraintsand
costfunctions,isguaranteedtomeettheconstraints
andtheobjectivesoftheoverallcontrolled
system.
3.1.1.Functionalplatform.Inourmethodology,
thisdesignsteprepresentsafirstrefinement
ofthesystemspecificationsintoaplatformabstraction
capturingastructureoftheimplementation.
Forenginecontrol,wemodeltheplatform
atthislayerwitheightmainfunctionsdescribed
inFig.2(see(Antoniottietal.,1998)).Forthe
motorcycleECUunderdesign,theplatformrepresentation
isastructurecomposedofthefollowing
functions:
•MotionGeneration:
driver/vehicleinterface
management,torquegenerationandtransmission,
synchronization.
•ExhaustGasTreatment:
TWCwarm-upcontrol,
temperatureestimation.
•Combustion:
definitionoftargetforspark
advanceandAFR,enginetorqueestimation.
•Ignition:
actuationoftargetsparkadvance.
•MixtureComposition:
AFRcontrol,definition
oftargetfuelmassandinjectiontime,
lambdasensormeasurementandheating.
•FuelManagement:
actuationoffuelinjection,
fuelcompensationduringtransients.
Fig.3.Generalschemeforthefunctionaldesign.
•AirManagement:
airtemperatureandthrottle
valveanglemeasurement
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