Towards Integrated Multi-Formalism Tool Support for the Design of - PowerPoint PPT Presentation

Towards Integrated Multi-Formalism Tool Support for the Design of Embedded Control Systems Martin Hüfner, Christian Sonntag, Sebastian Engell Process Dynamics and Operations Group (DYN) Dept. of Biochemical and Chemical Engineering (BCI) Technische Universität Dortmund, Germany Software Technologies Concertation on Formal Methods for Components and Objects (FMCO’10)

Outline • The MULTIFORM project • Illustrative example – Integrated design of a pipeless plant • Goals of the MULTIFORM project • Design flow example • Research areas – Algorithmic model exchange – Controller specification and synthesis – Trans-level tool integration and verification – Code verification – The design framework • Summary & state of the project 2

The European Project MULTIFORM • History – Initiated by TU Dortmund as a successor of HYCON WP3 (Tool Integration) – Application October 2007 – Start September 2008 • Funding – Financed by the EU within the 7th Framework Programme in the ICT domain – Funding: 2.800.000 € – 8 Partners, thereof two industrial • Duration: 42 months – September 2008 – February 2012 • More information – http://www.ict-multiform.eu 3

The MULTIFORM Consortium • TUDO (Coordinator) – TU Dortmund, Germany AAU/KVCA Sebastian Engell TUE/ESI • TUE – TU Eindhoven, Netherlands Koos Rooda, Bert van TUDO Beek, Jos Baeten • RWTH/VEMAC Verimag/ UJF – Universite Joseph Fourier, Grenoble, France Goran Frehse, Oded Maler UJF • RWTH Verimag/UJF – RWTH Aachen, Germany Stefan Kowalewski • AAU – Aalborg Universitet, Denmark • • VEMAC KVCA Kim Larsen, Brian Nielsen – Aachen, Germany – “Danish Cooling Cluster” • ESI Michael Reke Jens Andersen – Stichting Embedded – Closely working with Systems Institute DANFOSS Ed Brinksma, Boudewijn 4 Haverkort

Example: Design of a Pipeless Plant Camera Color stations Product AGVs Mixing station Control PC Storage station Charging stations 5

Challenges for Model-based Design (1) • Design and validation on different Camera levels of abstraction – Specification Color stations • Specification of the tasks and of Product the performance of the system – High-level design AGVs • Choice of the equipment, Mixing station Control PC feasibility and bottleneck Storage station analysis, throughput Charging stations maximization, plant layout optimization – Low-level design System specification Performance analysis • Optimization and control of processing steps and motion High-level design High-level tests Validation dynamics, logic control Design Low-level design • Choice of sensors and actuators, Low-level tests communication system Implementation Implementation tests – Implementation • PLCs, embedded controllers, communication system 6

Challenges for Model-based Design (2) • The control system spans the Camera complete control hierarchy Timed or – Coordination control Color stations hybrid models • Scheduling and performance Product optimization – Advanced control AGVs • Control of batch processes Mixing station Control PC • AGV path planning Continuous Storage station models Charging – Regulatory control stations Discrete-event, • AGV motion control hybrid, and • Docking control continuous models • Sequence control in the processing stations • Low-level continuous control – Low-level safety-related control Discrete-event, timed, and hybrid models 7

Goal of the MULTIFORM Project • Extension of the model-based approach beyond the scope of classical feedback controller design to cover the complete control hierarchy. • The long-term goal is to support a fully model-driven design process of a controlled system over its full life cycle – Build systems that are correct by design and where the interaction of the components is fully transparent 8

Vision for Integrated Model-based Design • Integrated modeling and design of the system itself and of the multi- layered and networked control system – Including a structured approach to the management of specifications, design decisions, models, and results • Coverage of all layers of the automation and design hierarchy – Integrated tool support on all layers of the automation and design hierarchies • Current state: Islands of support for specific design and analysis tasks • Trans-level integration of model-based design approaches • Support of iterations in the design process • Propagation of faults and unexpected behaviors • Modifications over the life cycle without top-down redesign  Tool integration and Design Framework  Exchange of models between tools via the CIF (Compositional Interchange Format)  Improvement of the tool support for the design steps 9

Design Flow: Design Tasks for the Pipeless Plant Design tasks Requirement specification Feasibility analysis Plant layout design AGV speed analysis Controller design Controller code generation 10

Design Flow: Refinement of Requirements Design tasks Models Boderc key drivers Requirement specification Feasibility analysis Plant layout design AGV speed analysis Controller design Controller code generation 11

Storage station Key Drivers for the dosing station mixing station Pipeless Plant cleaning station AGV broad AGV even Complex & AGV round interesting AGV with wheels Plant Standard AGV Price / budget AGV with Microcontroller hast to be kept AGV with WLAN Open space/no rails for AGV Transparent vessel Vessel separable from AGV Process times/AGV speed > 2? AGV operating time/charging time > 3? Standard parts Colored product Complex recipes Interesting & Different recipes with different steps Impressive Recipes can be modified product Reuse as a Non-toxic materials lab experiment / Small production time fair exhibit Quality control for product Demonstrator plant safety Avoid cross contamination For Multiform Parameterization of plant and recipes Parallel production Design flow Path planning & routing and tool chain Vessel tracking Camera localization system Simple & powerful GUI Control PC Lab size plant Easy handling boundaries Multiform & robustness Emergency stop must-haves Sensors for safety Sensors for control Same power supply Electrical power No hydraulics Avoid pneumatics 12 Support documentation of all steps Appropriate design approach Integration to Multiform

Design Flow: Initial Design System configuration: • Production Tasks Boderc key drivers • Functionality of the Stations • Type of AGVs + Design choices • Number of stations Requirements • Station types (Color, Mixing, Storage,…) • Number of AGVs Design step 13

Design Flow: Feasibility Analysis Design tasks Models Boderc key drivers Requirement Information propagation via Design Framework specification Timed Chi – Complete coarse plant model – Here: Timed model – Purpose: Simulation Feasibility analysis Plant layout design AGV speed analysis Controller design Controller code generation 14

Design Flow: Feasibility Analysis Boderc key drivers & Design Decisions System configuration: • # and type of stations Timed Chi model – Complete coarse plant model • Recipes – Timed model • # and type of AGVs – Simulation Design flow Another View Control View Structure View System Feasibility Requirements Analysis block Plant Chi model Design step Design step Model Model of the complete plant 15 using approximation

Design Flow: Feasibility Analysis Boderc key drivers System configuration: • # Stations= 5 Timed Chi – Complete plant • StationTypes= [5x1] – Timed model • StationPositions= [5x2] – Simulation • # AGVs= 3 • RecipeList= [6x1] • MovementTimes= [5x5] Chi model 16

Design Flow: Feasibility Analysis Experiment Boderc key drivers System configuration: • # Stations=5 Timed Chi – Complete plant • Station Types=[5x1] – Timed model Chi model • Station Positions=[5x2] – Simulation • # AGVs=3 • Recipe List=[6x1] • Movement Times=[5x5] Experiment: Set input: Model parameters Set input: #Stations:=5 StationTypes #AGVs:=3 MovementTimes:=[5x5] 17

Design Flow: Feasibility Analysis Experiment Boderc key drivers System configuration: • # Stations=5 Timed Chi – Complete plant • Station Types=[5x1] – Timed model • Station Positions=[5x2] – Simulation • # AGVs=3 • Recipe List=[6x1] • Movement Times=[5x5] Experiment: Set input: Model parameters #Stations:=5 StationTypes Tool parameters #AGVs:=3 MovementTimes:=[5x5] Chi model 18

Design Flow: Feasibility Analysis Experiment Boderc key drivers System configuration: • # Stations=5 Timed Chi – Complete plant • Station Types=[5x1] – Timed model • Station Positions=[5x2] – Simulation • # AGVs=3 • Recipe List=[6x1] • Movement Times=[5x5] Experiment: Set input: Select tool: Model parameters #Stations:=5 StationTypes Tool parameters #AGVs:=3 Chi MovementTimes:=[5x5] Simulator Chi model 19