Developing software that drives machines. Klaas Gadeyne

Transcription

1 Developing software that drives machines Klaas Gadeyne

2 Outline +Flanders' Mechatronics Technology Centre +Some aspects of SW development for mechatronic machines The mechatronics domain Software platforms for mechatronic SW development The AutoSAR platform Business models used during mechatronic SW development The Simulink tool/model FMTC vzw 2010 p2

3 Weekend Knack... Ask me a question before you fall asleep... FMTC vzw 2010 p3

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5 Market trends lead to distributed intelligent machines Market Trends: Increased Productivity Comfort for operator Better Energy-efficiency Customization Flexible machines Faster product-innovation Improved Reliability Total Solutions Additional Services Enabling Product Trends: intelligent control & sensing modular & platform-based design telemonitoring, telediagnostics, service architecture FMTC vzw 2010 p5

6 Mission of FMTC Jointly develop new and improve existing generic mechatronic competences and technologies to improve the competitive edge of its member companies FMTC vzw 2010 p6

7 Members FMTC vzw 2010 p7

8 FMTC bridges the research gap between academia Companies and industry Universities & Research Centres (PMA) Fundamental Research Top Competences FMTC Consulting Centres (Sirris) ytp = year to product 8 Strategic Research Joint Projects Collective Research 6 ytp 4 ytp 48 Contract Research Consultancy ytp FMTC vzw 2010 p8

9 FMTC in graphs (2008) It s the ambition to double the size of the centre by FMTC vzw 2010 p9

10 FMTC has a unique partnership model for collective research Definition Steering commission per project Evaluation Participating companies st nedi s er cooperation Results Cases PMA & other Research Centers IPR Policy Collective Research Use in bilateral contracts FMTC vzw 2010 p10

11 Demand-driven joint projects +/- 40 project ideas idea fair dr ao B esi v d A Company Interest Company Interest noi t c el e S Clustering Visionary seminars +/- 7 projects FMTC vzw 2010 p11

12 FMTC projects and top competences are grouped in three clusters Ecological Machines Energy-efficient electro-mechanical drive lines Control design Electrical actuators System modeling Flexible Machines Intelligent Machines Wireless Control Architectures Smart self-diagnostics Industrial communication Control software Engineering Condition Monitoring Algorithms Customized sensing Mechatronic System Design FMTC vzw 2010 p12

13 FMTC project cluster ecological machines +Iterative learning control applied on various use cases: For realizing smooth wet-plate Load cell clutching For active vibration and noise reduction Improved wire winding Motion control of linear actuator Learning and scheduled control +Design of application-specific piezo- and electromagnetic actuators +Lumped parameter physics-based dynamic modeling for: Moving mass actuator design Tablet press analysis Winder machine design FMTC vzw 2010 p13

14 The FMTC project cluster flexible machines +Industrial Communication Technologies: Bluetooth Control profile Clock Synchronization for CAN Open EtherCAT master Zigbee sensors WiMedia Communication Wireless power solutions +Machine Control Engineering Methods: SHAFT SPEED MONITOR ADVANCED STONE DETECTION T YMIU Moisture Sensor CAN BUS RIGHT HAND MODULE T D/GPS RECEIVER GRAIN QUALITY MONITOR SERVICE TOOL / END OF LINE TOOL Grain Flow Sensor INTEGRATED COMBINE DISPLAY UNITP PC HANDLE COMBINE CONTROL MODULE 1 Optional ENGINE GOVERNOR MODULE Standard CNH Software COMBINE CONTROL MODULE 2 CNH Control T Terminator PC PCMCIA Card T COMBINE CONTROL MODULE 3 Bypass Control OROCOS (open real-time control services) Framework Machine Emulator Platform Eclipse tool chain for model based SW development FMTC vzw 2010 p14

15 The FMTC project cluster intelligent machines +Condition monitoring steel wire quality detection at Bekaert preventive maintenance for FEI and Océ: combination of data mining and prognostics Model-based diagnostics and Bayesian network diagnostics on an Airco bearing damage in weaving machines and gearboxes +Customized sensors: receivers transmitters Radial force measurments. Torque estimation. Contactless measurement of temperature distributions Detection and localization of intermittent connector faults Ultrasonic inspection of steal fibre mats. +(Networked Machines) FMTC vzw 2010 p15

16 Badminton robots brings FMTC competences together (youtube jada badminton) +Highly dynamic application. +3-axis actuation system. +3D vision system in the loop. +This year: Energy efficient actuation. Wireless in the loop. Automatic failure diagnostics. SysML based system design flow FMTC vzw 2010 p16

17 FMTC is looking forward to collaborating with you! The mechatronics domain FMTC vzw 2010 p17

18 Mechatronics domain model ECU ECU FMTC vzw 2010 p18

19 Applied to the Badminton Robot FMTC vzw 2010 p19

20 Mechatronics machines +What are differentiatiors with other SW development? Involving (control of a) physical machine Involving interaction between different domain experts Hardware specialists Mechanics Thermal Electrical Software specialists Computer Hardware (ECU) specialists +What varies even in mechatronics sector Going from expensive one-off prototype machines such as badminton robots driven by COTS computer hardware to production sizes of over 6000 million cars (VW, 2007). For some designs, particular domains are more important than others FMTC vzw 2010 p20

21 Traditional SW development In traditional development methods information is stored in documents. But, every time the information is processed by humans, it is actually transformed into a model a mental model. We don t think in terms of linear text when we reason about technical solutions. Instead we create some sort of model of the system in our head and reason in terms of that model. It may well happen of course that different people get different mental models from the same linear text as there may be several ways to transform it into a mental model. FMTC vzw 2010 p21

22 Model Based SW development +The solution is the set of models +Test as much as possible on the solution +The solution can be transformed into the final deliverable Requirements Models test Code generation Manual coding Code FMTC vzw 2010 p22

23 Now that you are all mechatronic experts +What do I mean with Software Platforms Typical models for Mechatronic SW development FMTC vzw 2010 p23

24 One step back: requirements FMTC vzw 2010 p24

25 Platform + AutoSAR key features (from the AutoSAR website) Modularity Scalability Configurability Flexibility Maintenance Reliability FMTC vzw 2010 p25

26 (Software) Platforms are typically covering NFR FMTC vzw 2010 p26

27 Mechatronics domain model Business SW SW Platform ECU ECU FMTC vzw 2010 p27

28 One such platform: The AutoSAR platform FMTC vzw 2010 p28

29 AutoSAR: Configurability solved by the platform FMTC vzw 2010 p29

30 (AutoSAR) Component model FMTC vzw 2010 p30

31 Component models in the Mechatronics world +Depending on the subbranch of mechatronics, often a different component model is used They all look the same (similar)... Sure: most non-functional requirements leading to the AutoSAR component model are not automotive specific, hence... One of them is the AutoSAR component model +Typical for these frameworks is the presence of so-called data-flow ports... Because often the models used are data-flow models... FMTC vzw 2010 p31

32 Platform Model(ing) language +A mechatronics SW architecture is typically a set of SW components working together +Notice that this is a graphical model, describing part of the solution... FMTC vzw 2010 p32

33 (Business) Models in the mechatronics world +Remember: everything is a model ;-) Platform models Business logic (functional) models (Platform Independent Models) Configuration models Combinations... +This section: PIM modeling FMTC vzw 2010 p33

34 Business models are typically covering FMTC vzw 2010 p34

35 UML can do this too, right? FMTC vzw 2010 p35

36 Limits of UML (for mechatronic SW development) +No real formal semantics, especially when it comes to behavioural modeling Semantic variation points No executable semantics +(Generally) Poor tool support for model execution FSM Simulation is an exception +Complex for non-sw engineers In mechatronic SW development, the models fulfulling functional and performance requirements (the business logic) are typically created by domain experts, which have little affinity with SW (and hence SW modeling languages) FMTC vzw 2010 p36

37 (Executable) Behavioral modeling languages +Different modeling paradigma's to describe physical systems Some unifying theories such as DEVS (prof. VanGheluwe) +In practice Dynamic Systems behaviour modeling languages such as modelica Simulink as de facto standard FMTC vzw 2010 p37

38 Simulink models FMTC vzw 2010 p38

39 Executable models, debuggable models,... FMTC vzw 2010 p39

40 Where does this model fit? Business SW SW Platform ECU ECU FMTC vzw 2010 p40

41 Where does this model fit? SW Platform ECU ECU FMTC vzw 2010 p41

42 Howto FIT Platform & business model? Example -> AutoSAR modeling tool + Simulink FMTC vzw 2010 p42

43 Example -> FMTC Eclipse plugin Points to the main mdl. Examine model in MATLAB Select subsystem to be used Add MATLAB model to project: drop into models folder Mark auxiliary files (MATLAB script, library,...) FMTC vzw 2010 p43

44 Eclipse plugin (bis) Overview of ports & parameters in Project Explorer Details in model elements tab Relevant properties of generated code FMTC vzw 2010 p44

45 Wrap up + Mechatronic SW development involves creating SW that drives physical machines +Some of its requirements can be fulfilled using appropriate platforms. SW platforms such as the AutoSAR platform are one example of such a platform. +Fulfilling functional and performance requirements is typically not done by the SW engineer but by other domain experts. The SW engineer reuses their models and merges them with the SW architecture models. +Some requirements cross these borders... FMTC vzw 2010 p45