Successfully reported this slideshow.
We use your LinkedIn profile and activity data to personalize ads and to show you more relevant ads. You can change your ad preferences anytime.

Innovation day 2012 16. koenraad rombaut & michiel de paepe - verhaert - model based design; added value & case study destecs'

1,052 views

Published on

Published in: Technology, Business
  • Be the first to comment

  • Be the first to like this

Innovation day 2012 16. koenraad rombaut & michiel de paepe - verhaert - model based design; added value & case study destecs'

  1. 1. CONFIDENTIAL 26.10.2012 Slide 2 DESTECS - DREDGING EXCAVATOR - VERHAERT CASE STUDY MODEL BASED DESIGN FOR EMBEDDED CONTROL SYSTEMS CONFIDENTIAL Koenraad Rombaut, Michiel de Paepe Applied physics & systems Koenraad.rombaut@verhaert.com, michiel.depaepe@verhaert.com
  2. 2. CONFIDENTIAL 26.10.2012 Slide 3 Model Based Design in general: • What ? • Why ? • How ? A model based design case study: • Case study • Models • Conclusions & demonstration Content
  3. 3. CONFIDENTIAL 26.10.2012 Slide 4 What ? Model driven engineering ? Model based development ? Build model Plant / Process Product design Design Concepts Verification Implement Product code Testing ModelspaceCodespace Model = system + control + environment + stimuli Multi-domain = control + system behaviour Coupling / transformations models  design requirements  design  implementation  test scenario
  4. 4. CONFIDENTIAL 26.10.2012 Slide 5 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
  5. 5. CONFIDENTIAL 26.10.2012 Slide 6 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
  6. 6. CONFIDENTIAL 26.10.2012 Slide 7 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
  7. 7. CONFIDENTIAL 26.10.2012 Slide 8 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 Risk/Effort Time
  8. 8. CONFIDENTIAL 26.10.2012 Slide 9 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 ?
  9. 9. CONFIDENTIAL 26.10.2012 Slide 10 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
  10. 10. CONFIDENTIAL 26.10.2012 Slide 11 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
  11. 11. CONFIDENTIAL 26.10.2012 Slide 12 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
  12. 12. CONFIDENTIAL 26.10.2012 Slide 13 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
  13. 13. CONFIDENTIAL 26.10.2012 Slide 14 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
  14. 14. CONFIDENTIAL 26.10.2012 Slide 15 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
  15. 15. CONFIDENTIAL 26.10.2012 Slide 16 Dredging • Dredging = Underwater excavation • No visual • Introducing semi automated control
  16. 16. CONFIDENTIAL 26.10.2012 Slide 17 Scale model
  17. 17. CONFIDENTIAL 26.10.2012 Slide 18 Actuators Full scale  Hydraulic pistons vs. Scale model  Electric linear actuators 12V  full speed out 0V  no movement -12V  full speed retract
  18. 18. CONFIDENTIAL 26.10.2012 Slide 19 Sensors Incremental encoders 2 shifted square waves Step and direction information Driving step counter (up and down) 1 index pulse / revolution Absolute positioning
  19. 19. CONFIDENTIAL 26.10.2012 Slide 20 Continuous Time model
  20. 20. CONFIDENTIAL 26.10.2012 Slide 21 3D Model • STL-files for visualisation • Mass & Inertia • Dimmensions
  21. 21. CONFIDENTIAL 26.10.2012 Slide 22 Discrete Event model
  22. 22. CONFIDENTIAL 26.10.2012 Slide 23 Excavator model
  23. 23. CONFIDENTIAL 26.10.2012 Slide 24 Operator • Joystick inputs (from CSV files) • Pressing buttons • Power on • Start/Stop • Manual/Assisted mode
  24. 24. CONFIDENTIAL 26.10.2012 Slide 25 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)
  25. 25. CONFIDENTIAL 26.10.2012 Slide 26 Controller
  26. 26. CONFIDENTIAL 26.10.2012 Slide 27 Operation modes Direct mode Assisted mode
  27. 27. CONFIDENTIAL 26.10.2012 Slide 28 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
  28. 28. CONFIDENTIAL 26.10.2012 Slide 29 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
  29. 29. CONFIDENTIAL 26.10.2012 Slide 30 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
  30. 30. CONFIDENTIAL 26.10.2012 Slide 31 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
  31. 31. CONFIDENTIAL 26.10.2012 Slide 32 CONFIDENTIAL Time for a demonstration
  32. 32. CONFIDENTIAL 26.10.2012 Slide 33 Any questions?
  33. 33. CONFIDENTIAL 26.10.2012 Slide 34 VERHAERT MASTERS IN INNOVATION® Headquarters Hogenakkerhoekstraat 21 9150 Kruibeke (B) tel +32 (0)3 250 19 00 fax +32 (0)3 254 10 08 ezine@verhaert.com More at www.verhaert.com VERHAERT MASTERS IN INNOVATION® Netherlands European Space Innovation Centre Kapteynstraat 1 2201 BB Noordwijk (NL) Tel: +31 (0)633 666 828 willard.vanderheijden@verhaert.com More at www.verhaert.com VERHAERT MASTERS IN INNOVATION® helps companies and governments to innovate. We design products and systems for organizations looking for new ways to provide value for their customers. We are a leading integrated product innovation center; creating technology platforms, developing new products and business in parallel, hence facilitating new-growth strategies for our clients.

×