网络化控制系统的协同设计与形式化建模

Co-design and formal modeling of networked control system

为满足网络化控制系统的综合性能要求,实现其设计过程的形式化和规范化,针对其设计过程进行了形式化建模。给出了网络化控制系统中网络、控制、结构实体三个子模型的定义,分析了三者的构成要素以及相互之间的映射关系;进而提出了基于网络服务质量和控制性能质量的协同设计框架,并利用统一建模语言进行网络化控制系统的结构实体子模型设计,分析了网络化控制系统建模中类的概念和构造,针对类的属性和方法进行了扩展,归纳了建模过程的一般性步骤。最后以一台网络化三轴数控钻床的设计过程为例,实现并验证了所提出协同设计框架与形式化建模过程的可行性。

To satisfy the performance requirements of Networked Control System（NCS） and standardize its design process,the design procedure of NCS was formally modeled.The sub-model definitions of network,control,and structural entity in NCS were given.The components of the three sub-models and the mappings among them were analyzed.Then,a co-design framework was proposed based on network Quality of Service（QoS） and Quality of Control Performance（QoCP）.Unified Modeling Language（UML） was adopted to design structural entity sub-model.Concept and construction of classes in NCS modeling were analyzed,attributes and methods of classes were extended as well as the general modeling procedure was summarized.Finally,feasibility of the proposed co-design framework and formal modeling procedure was demonstrated in a networked three-axis Computer Numerical Control（CNC） drillpress design process.