Collaborative Research: Embedded Control Systems for X-by-Wire Applications

这个项目的目标是为汽车x线控系统的嵌入式控制系统开发基于模型的概念和工具。x线控系统用嵌入式计算机和执行器（例如，电机）取代驾驶员和车辆之间的机械连接，以控制汽车并向驾驶员提供物理响应。这些系统的特点是多个，高度集成和相互作用的反馈回路。该项目正在为设计这些嵌入式控制系统创造新的方法，以提高性能，同时提高安全性和可靠性，并降低开发成本。该研究利用控制理论来处理物理动力学和反馈回路的综合，并利用计算机科学的形式化和技术来处理嵌入式软件的逻辑方面。使用实验室实现的线控转向系统作为测试平台，使用新的组合方法分析包括驾驶员行为在内的动力学模型，从而使设计具有保证性能特征的嵌入式控制系统元件成为可能。基本设计限制理论正在被扩展并应用到这些模型中，以评估动态性能和鲁棒性之间的权衡。混合系统（具有连续和离散状态变量的系统）的验证方法正在开发中，以证明系统的安全性，即使在传感器和其他系统组件出现故障时也是如此。基于反映模型结构、时间尺度分离和交互动力学的新表示的模型分解，正在开发可处理的验证问题。嵌入式软件设计正在与工业伙伴合作，在实验室测试台上进行实施和评估。

Freudenberg-Krogh (collaborative) - AbstractThe goal of this project is to develop concepts and tools for model-based development of embedded control systems for automotive x-by-wire systems. X-by-wire systems replace mechanical connections between the driver and the vehicle with embedded computers and actuators (e.g., motors) to control the automobile and provide physical responses to the driver. These systems are characterized by multiple, highly integrated and interacting feedback loops. This project is creating new methods for designing these embedded control systems to improve performance while enhancing safety and reliability and reducing development cost. The research draws on control theory to deal with physical dynamics and synthesis of the feedback loops and with formalisms and techniques from computer science to deal with the logical aspects of the embedded software. Using a laboratory implementation of a steer-by-wire system as a test bed, models of the dynamics, including driver behavior, are being analyzed using new compositional methods that make it possible to design elements of the embedded control systems with guaranteed performance characteristics. The theory of fundamental design limitations is being extended and applied to these models to evaluate the tradeoffs between dynamic performance and robustness. Verification methods for hybrid systems (systems with continuous and discrete state variables) are being developed to demonstrate the safety of the system, even when there are failures in sensors and other system components. Tractable verification problems are being developed based on model decompositions reflecting the model structure, time-scale separation, and novel representations of the interaction dynamics. The embedded software design is being implemented and evaluated on the laboratory test bed in cooperation with an industrial partner.