Model-driven Software-physical Parallel Conceptual Design for Complex Mechatronics Systems

doi:10.3969/j.issn.1004-132X.2021.21.002

Abstract

Abstract: Parallel design was an important trend in the conceptual design of mechatronics systems. However, as an indispensable constituent of complex mechatronics systems, software was normally designed after that the design of physical subsystems was frozen. Such sequential design approached restrict the design space of software subsystems and might cause severe design defects in early design. In order to realize the parallel design of software and physical subsystems in the conceptual design stages of complex electromechanical systems, a model-driven software-physical parallel conceptual design approach was proposed based on SysML. A hybrid functional model was defined by combining the physical-oriented flow-based functional representation and the data/control flow diagram for software functional representation. From this model, two subsystems might be designed in parallel. For the physical design, working principles might be retrieved and filtered considering implicit temporal constraints by leveraging the functional effectiveness matching techniques and a temporal rule template. For the software design, an algorithm for automatically generating the software components and their behavior models was proposed based on the distributed control application design pattern. A mobile robot system was used as a case study to illustrate the parallel conceptual design processes.

Key words: mechatronics system, model-based systems engineering, parallel design, conceptual design, functional modeling

摘要： 并行设计是机电一体化系统概念设计的重要发展趋势，而软件作为复杂机电系统的重要组成部分，其早期设计通常与物理子系统串行开展，这极大限制了软件设计空间并导致严重的早期设计缺陷。为在复杂机电系统概念设计阶段实现软件与物理子系统的并行设计，提出了一种基于SysML的模型驱动软件与物理并行概念设计方法。将基于流的物理功能表示与基于数据/控制流图的软件功能表示相结合，提出了基于SysML的混合功能模型，通过该模型驱动软件与物理子系统设计的并行开展。在物理设计方面，基于功能效应匹配及时序规则模板实现带隐含时序约束的工作原理检索与筛选；在软件设计方面，基于分布式控制应用设计模式提出软件组件及其行为模型自动生成方法。最后，以移动机器人系统为例，展示了复杂机电系统软件与物理并行概念设计过程。

关键词: 机电一体化系统, 基于模型的系统工程, 并行设计, 概念设计, 功能建模

CLC Number:

CAO Yue, WU Lingjiu, QIN Xujia, CHEN Jiazhou, LIU Yusheng. Model-driven Software-physical Parallel Conceptual Design for Complex Mechatronics Systems[J]. China Mechanical Engineering, 2021, 32(21): 2532-2541.

曹悦, 吴凌九, 秦绪佳, 陈佳舟, 刘玉生. 模型驱动复杂机电系统软件与物理并行概念设计[J]. 中国机械工程, 2021, 32(21): 2532-2541.

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