【正文】 河南科技大學本科畢業(yè)設(shè)計（論文） 1 單片機類畢業(yè)論文設(shè)計 英文資料翻譯 A modelingbased methodology for evaluating the performance of a realtime embedded control system Klemen Perko, Remy Kocik, Redha Hamouche, Andrej Trost ABSTRACT This paper presents a modellingbased methodology for embedded control system (ECS) design. Here, instead of developing a new methodology for ECS design, we propose to upgrade an existing one by bridging it with a methodology used in other areas of embedded systems design. We created a transformation bridge between the controlscheduling and the hardware/software (HW/SW) codesign tools. By defining this bridge, we allow for an automatic model transformation. As a result, we obtain more accurate timingbehaviour simulations, considering not only the realtime software, but also the hardware architecture‘s impact on the control performance. We show an example with different modelevaluation results pared to real implementation measurements, which clearly demonstrates the benefits of our approach. 169。 20xx Elsevier . All rights reserved KEY WORDS: Modeling, Model transformations, Embedded control systems design, Realtime systems 1. Introduction Embedded control systems (ECSs) are ubiquitous nowadays. They are used 河南科技大學本科畢業(yè)設(shè)計（論文） 2 in a broad spectrum of applications, from simple temperature control in household appliances to plex and safety–critical automotive brake systems or aircraft flight control systems. Different applications have different demands with regards to the realtime execution, control performance, energy consumption, price, etc., of the ECS being used. Modern technologies for hardware (HW) and software (SW) design provide a variety of possibilities for designing ECSs (., distributed and worked HW, multiprocessor systems, a variety of SW control algorithms and realtime operating systems (RTOSs), etc.) [1]. It is monly acknowledged that the designing and verifying of reliable and efficient ECSs for a particular application are challenging tasks. . Traditional controlsystem design The aim of designing an ECS is to build a puting system that is able to control the behavior of a physical system, ., a plant. Such a plant is made up of interconnected mechanical, electrical and/or chemical elements. A typical ECS consists of electronic sensors for data acquis ition from the plant, a puting system for processing the control algorithm, and electronic actuators to drive the plant. The ECS design process involves different actors and areas of expertise (control theory, signal processing, realtime SW and HW engineers). Each of these engineers is familiar with their own modeling languages, models, design tools, etc. This heterogeneity introduces cuts in the design process. Model transformations are needed between each design step。 however, they are often carried out manually and, as a result, are prone to mistakes and subject to interpretation, which of course depends on the skill of the designer. The traditional form of ECS design is performed in two separated domains – the control SW domain and the HW domain – using specific design tools and their respective system models. In the first domain, control engineers define the control laws and the SW engineers write the code that executes the operations 河南科技大學本科畢業(yè)設(shè)計（論文） 3 required by the control laws. A socalled controlscheduling codesign is performed. Decisions made in the realtime (RT) software design affect the control design, and vice versa. For instance, different SW scheduling policies have different impacts on the latency distributions in the control loops and, consequently, on their performance. Also, the controlloop performance directly affects (by constraining) the SW execution parameters (., sampling periods, taskexecution jitter, etc.). In the second domain the HW engineers design an HWplatform that will execute the control SW. The connections of all the sensors and actuators to the platform are made via the available munication channels. However, because the HW platform is designed separately, control engineers cannot estimate its impact on the controlloop performance. For instance, the data from sensors and to actuators can pass through one or more munication channels. A HW engineer can, in general, choose from among a variety of munication protocols, and each type introduces different latencies and jitter, which therefore affects the SW execution. The control engineer cannot, however, evaluate the effect of these latencies before the system is actually implemented. Hence, the desired performance of the system may not be achieved, and it is necessary to change and tune the control laws (calibration phase) in order to pensate for the impact of these munication and execution delays. The fact that the calibration has to be performed on an actual plant can be very expensive and timeconsuming, especially when the desired performance cannot be achieved using the current HWplatform and a redesign is required. Another shorting of traditional ECS design is the inability of control and SW engineers to exploit some of the advantages offered by modern HW technologies. For instance, control loops running in parallel, instead of the traditional sequential execution, could give better performance. Parallel execution can be achieved with the use of multiprocessor or distributed platforms. Modern ECS design techniques rely heavily on system modeling, which 河南科技大學本科畢業(yè)設(shè)計（論文） 4 provides a means to examine how various ponents work together and to estimate the impact of the ECS‘s implementation on control performance before it is actually implemented. This makes it possible to correct the initial control laws in order to pensate for the implementation impacts early in the design cycle. Another important aspect of modeling