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

Freudenberg-Krogh（协作）-摘要本项目的目标是开发概念和工具，用于汽车x-by-wire系统的嵌入式控制系统的基于模型的开发。 线控系统用嵌入式计算机和致动器（例如，马达）来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合成，并利用计算机科学的形式主义和技术来处理嵌入式软件的逻辑方面。使用实验室实施的线控转向系统作为试验台，模型的动态，包括驾驶员的行为，正在分析使用新的组合方法，使之有可能设计的嵌入式控制系统的元素，保证性能特性。 基本设计限制的理论被扩展并应用于这些模型，以评估动态性能和鲁棒性之间的权衡。 正在开发混合系统（具有连续和离散状态变量的系统）的验证方法，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。 易处理的验证问题正在开发模型分解的基础上，反映模型结构，时间尺度分离，和新的表示的相互作用动力学。嵌入式软件设计正在与工业合作伙伴合作，在实验室测试台上实施和评估。

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.