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03 Lec Model - Based.design

This document provides an overview of the course EE522 - Advanced Embedded Systems. The course covers modeling, design, and analysis of embedded systems. Modeling involves creating mathematical models to gain understanding of a system, design specifies how a system is implemented, and analysis provides understanding of why a system behaves as it does. The course will cover modeling techniques such as ordinary differential equations, state machines, dataflow models, and hybrid systems. It will also discuss model-based design where models are used to specify and generate implementations of embedded systems.

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37 views

03 Lec Model - Based.design

This document provides an overview of the course EE522 - Advanced Embedded Systems. The course covers modeling, design, and analysis of embedded systems. Modeling involves creating mathematical models to gain understanding of a system, design specifies how a system is implemented, and analysis provides understanding of why a system behaves as it does. The course will cover modeling techniques such as ordinary differential equations, state machines, dataflow models, and hybrid systems. It will also discuss model-based design where models are used to specify and generate implementations of embedded systems.

Uploaded by

mujtabaiftikhar156
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd
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EE522

Advanced Embedded Systems

Sources: [Introduction to Embedded Systems, Edward A.


Lee and Sanjit A. Seshia, UC Berkeley.
Embedded Networked Systems, Kai Huang, TU Munich]

Introduction 2-1
Modeling, Design, Analysis

Modeling is the process of


gaining a deeper understanding
of a system through imitation.
Models specify what a system does.
Design is the structured creation of
artifacts. It specifies how a system does
what it does. This includes optimization.
Analysis is the process of gaining a deeper understanding
of a system through dissection.
It specifies why a system does what it does
(or fails to do what a model says it should do).
What is Modeling?
Developing insight about a system, process,
or artifact through imitation.

A model is the artifact that imitates the


system, process, or artifact of interest.

A mathematical model is model in the form


of a set of definitions and mathematical
formulas/objects.
Models vs. Reality
Solomon Golomb: Mathematical models – Uses and
limitations. Aeronautical Journal 1968
You will never strike
oil by drilling through
the map!

Solomon Wolf Golomb (1932)


mathematician and engineer and a professor
of electrical engineering at the University of
Southern California. Best known to the
general public and fans of mathematical
games as the inventor of polyominoes, the
inspiration for the computer game Tetris. He
has specialized in problems
of combinatorial analysis, number theory,
coding theory and communications.
Butthis does not, in any way,
diminish the value of a map!
The Kopetz Principle
Many (predictive) properties that we assert
about systems (determinism, timeliness, reliability,
safety) are in fact not properties of an
implemented system, but rather properties of a
model of the system.

We can make definitive statements about


models, from which we can infer properties of
system realizations. The validity of this inference
depends on model fidelity, which is always
approximate.
Prof. Dr. Hermann Kopetz

(paraphrased)
What is Model-Based Design?
1. Create a mathematical model of all the parts of
the embedded system
 Physical world
 Control system
Different sub-systems,
 Software environment different approaches to
 Hardware platform modeling
 Network
 Sensors and actuators
2. Construct the implementation from the model
 Goal: automate this construction, like a compiler
 In practice, only portions are automatically constructed
Modeling Techniques in this Course
 Models that are abstractions of system dynamics
(how things change over time)

 Examples:
 Modeling physical phenomena – ODEs
 Feedback control systems – time-domain modeling
 Modeling modal behavior – FSMs, hybrid automata
 Modeling sensors and actuators – calibration, noise
 Modeling software – concurrency, real-time models
 Modeling networks – latencies, error rates, packet loss
Modeling of Continuous Dynamics
Ordinary differential equations, Laplace
transforms, feedback control systems, stability
analysis, robustness analysis, …
An Example: Modeling
Helicopter Dynamics
Modeling Physical Motion
 Six degrees of freedom:
 Position: x, y, z
 Orientation: pitch, yaw, roll
Notation
Notation
Newton’s Second Law
Orientation
Angular version of force is Torque.
For a point mass rotating around a
fixed axis:

Ty(t ) = r f (t )
angular momentum, momentum
Justas force is a push or a pull, a torque is a twist.
Units: newton-meters/radian, Joules/radian

Note that radians are meters/meter (2p meters of circumference per 1 meter
of radius), so as units, are optional.
Rotational Version of Newton’s
Second Law
Simple Example
Feedback Control Problem
A helicopter without a tail rotor, like
the one below, will spin
uncontrollably due to the torque
induced by friction in the rotor shaft.

Control system
problem: Apply torque
using the tail rotor to
counterbalance the
torque of the top rotor.
Actor Model of Systems
A system is a function that
accepts an input signal and
yields an output signal.

The domain and range of


the system function are sets
of signals, which themselves
are functions.

Parameters may affect the


definition of the function S.
Actor Model of the Helicopter
Input is the net torque of
the tail rotor and the top
rotor. Output is the angular
velocity around the y axis.

Parameters of the model


are shown in the box.
The input and output
relation is given by the
equation to the right.
Composition of Actor
Models
Actor Models with Multiple Inputs
Proportional Controller

desired error net


angular signal torque
velocity
Note that the angular
velocity appears on
both sides, so this
equation is not trivial
to solve.
Behavior of the Controller

Desired angular velocity:

Simplifies differential
equation to:

Which can be solved as


follows (see textbook):
Exercise
Reformulate the helicopter model so that it has
two inputs, the torque of the top rotor and the
torque of the tail rotor.

Show (by simulation) that if the top rotor applies a


constant torque, then our controller cannot keep
the helicopter from rotating. Increasing the
feedback gain, however, reduces the rate of
rotation.
Other Modeling Techniques we will
talk about
 State machines
 sequential decision logic
 Synchronous/reactive concurrent composition
 concurrent computation
 composes well with state machines
 Dataflow models
 exploitable parallelism
 well suited to signal processing
 Discrete-event models
 explicit about time
 Time-driven
 suitable for periodic, timed actions
 Continuous-time models
 models of physical dynamics
 extended to “hybrid systems” to embrace computation
Discretized Model
A Step Towards Software
Numerical integration techniques provided sophisticated ways to
get from the continuous idealizations to computable algorithms.
Discrete-time signal processing techniques offer the same
sophisticated stability analysis as continuous-time methods.
But it’s not accurate for software controllers (fails on correctness)
Hybrid Systems –
Union of Continuous
& Discrete
A good starting point, but
has limitations.
E.g. Consider building a
hybrid system model for
software running under a
multitasking real-time OS.
Understanding Models can be very Challenging
An example has two controllers sharing a CPU
under an RTOS. Under preemptive multitasking,
only one can be made stable (depending on the
relative priorities). Under non-preemptive
multitasking, both can be made stable.

Theory for this is lacking, so designers


resort to simulation and testing.
Key Concepts in Model-Based
Design
 Models describe physical dynamics.
 Specifications are executable models.
 Models are composed to form designs.
 Models evolve during design.
 Deployed code may be (partially) generated from models.
 Modeling languages have semantics.
 Modeling languages themselves may be modeled (meta models)

 For embedded systems, this is about


o Time
o Concurrency
o Dynamics

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