【作者】 何岳；

【导师】 蔡伟鸿；

【作者基本信息】 汕头大学 ， 计算机软件与理论， 2010， 硕士

【摘要】 面对自主飞行器控制系统日趋增长的功能需求和系统复杂度,传统的软件开发方法日益彰显其缺陷与不足。针对如何保证软件的正确性、安全可靠性和提高自主飞行器控制系统软件的开发效率,本文在总结和比较基于模型嵌入式软件设计方法和模型驱动软件设计方法,分析传统自主飞行器控制系统软件开发的弊端和不足的基础上,提出了一种基于Ptolemy II自主飞行器控制系统软件开发的方法,实现了从系统模型和通讯模块到代码之间的自动生成,不仅提高了自主飞行器控制系统的开发效率,而且通过将自动生成的代码实施在分布式的计算平台进行控制小型四翼直升机飞行的硬件在环仿真仿真实验,从而验证了设计的正确性。本文的主要内容和贡献包括以下几个方面:1)提出研究基于Ptolemy II自主飞行器控制系统软件开发方法,引入基于模型的设计方法解决自主飞行器控制系统软件设计正确性和可靠性的问题,使用适合于控制系统建模的同步数据流计算模型来指导模型中各个模块之间的交互通讯。运用模型集成运算(Model-Integrated Computing,MIC)嵌入式系统开发方法,在GME环境中用UML语言构建CME元模型,基于元模型设计代码解释器和模型转换解释器,代码解释器可以方便地生成用户定制的通讯代码,模型转换解释器可以将CME模型转换到成能被Ptolemy II解析的模型。代码解释器和模型转换解释器具有通用性,能针对不同系统的不同模型迅速完成代码生成和模型转换的功能。2)通过开源的系统级异构设计与仿真平台Ptolemy II用于自主飞行器控制系统建模并在改进其代码生成器的一些缺陷的基础上自动生成模型代码,通过基于特定领域建模语言构建的具有通用性的模型代码解释器自动生成通讯代码,提高软件开发效率。3)以自主飞行器控制系统控制小型四翼直升机飞行的分布式硬件在环仿真为实例,探索基于Ptolemy II自主飞行器控制系统软件开发方法的可行性和有效性,实验结果验证了基于Ptolemy II的自主飞行器控制系统软件的正确性。更多还原

【Abstract】 According to the unceasing increment of functional requirement and system complexity of the autonomous vehicles control systems, defect and deficiency of traditional software development methodology is becoming manifest. Given guaranteeing the correctness and safety of autonomous vehicles control systems software and increasing the efficiency of software development, this thesis proposes a kind method of autonomous vehicles control systems software development based on Ptolemy II after summarized and compared M MBD (Model-based Development) with MDD (Model Driven Development), and analyzed the shortcomings of traditional software development methodology. This method realized code generation from system model and communication model, which do increase the e efficiency of autonomous vehicles control systems software development. Further more, this method verified the correctness of design by deploy the generated code onto distributed computation platform performing HILS (Hardware-in-The-Loop Simulation). The main contains and contributions of this thesis are as follows.First, we put forward the autonomous vehicle control system software development method based on Ptolemy II. Model-based design methodology is introduced to solve the problem of correctness and dependability in autonomous vehicle control system software design. Synchronous dataflow is a model of computation suitable for modeling control systems. In a synchronous dataflow model, the underlying model of computation governs the interaction and communication of the components in the model. MIC (Model-Integrated Computing)is utilized to build CME meta-model by UML in GME. Based on the CME meta-model, the code interpreter is built for generating communication code, and the model transfer interpreter is built for transferring CME models to models which can be parsed in Ptolemy II simulation environment. Code interpreter and model transfer interpreter have the universal properties of code generation and model transformation form different models of different systems.Second, Ptolemy II is used to model autonomous vehicles control system,which is a system level heterogeneous model design and simulation platform. Model code can be g enerated from the Ptolemy II after we improved on some defects of the code generator. The code of communication for fulfills distribution data transformation is automatically generated by CME code interpreter. The autonomous vehicle control system software development method based on Ptolemy II increase of efficiency of software development by automation code generation.Third, we take controlling fly the quid-rotor helicopter performing distributed HILS by autonomous vehicle control system as an instance to explore the feasibility and validity of the autonomous vehicle control system software development method. The experimental results validate the correctness of the software designed by the method.更多还原