Supervisory control synthesis

Transcription

1 System view Engineering SCS Tools Applications Conclusions Supervisory control synthesis Bert van Beek Systems Engineering Group Dept. of Mechanical Engineering 5 November 2009 Bert van Beek, Industry Day FMWeek Supervisory control synthesis 1/19

2 System view Engineering SCS Tools Applications Conclusions System view A system can be divided in (uncontrolled) plant P and supervisor (controller) S: User Coordinating Processing Supervisor S Plant P Driving Conditioning Actuators Sensors Main structure S ensures that P satisfies its control requirements R S. Bert van Beek, Industry Day FMWeek Supervisory control synthesis 2/19

3 System view Engineering SCS Tools Applications Conclusions Traditional Model-based Synthesis-based Traditional engineering realize R S D S Z S R S/P D S/P Infrastructure I realize R P D P Z P Bert van Beek, Industry Day FMWeek Supervisory control synthesis 3/19

4 System view Engineering SCS Tools Applications Conclusions Traditional Model-based Synthesis-based Model based engineering model realize R S D S M S Z S R S/P D S/P Infrastructure I model realize R P D P M P Z P Bert van Beek, Industry Day FMWeek Supervisory control synthesis 4/19

5 System view Engineering SCS Tools Applications Conclusions Traditional Model-based Synthesis-based Model based engineering model realize R S D S M S Z S R S/P D S/P Infrastructure I model realize R P D P M P Z P model simulation and verification Bert van Beek, Industry Day FMWeek Supervisory control synthesis 4/19

6 System view Engineering SCS Tools Applications Conclusions Traditional Model-based Synthesis-based Model based engineering model realize R S D S M S Z S R S/P D S/P Infrastructure I model realize R P D P M P Z P hardware-in-the-loop simulation and testing Bert van Beek, Industry Day FMWeek Supervisory control synthesis 4/19

7 System view Engineering SCS Tools Applications Conclusions Traditional Model-based Synthesis-based Model based engineering model realize R S D S M S Z S R S/P D S/P Infrastructure I model realize R P D P M P Z P final implementation testing Bert van Beek, Industry Day FMWeek Supervisory control synthesis 4/19

8 System view Engineering SCS Tools Applications Conclusions Traditional Model-based Synthesis-based Synthesis based engineering model synthesize realize R S M RS M S Z S R S/P D S/P Infrastructure I M a P model abstract refine R P D P M h P Z P model realize Bert van Beek, Industry Day FMWeek Supervisory control synthesis 5/19

9 System view Engineering SCS Tools Applications Conclusions SCS Flavors Plant Event-based State-based Supervisory control synthesis The resulting supervisor is: by construction mathematically correct w.r.t. M RS controllable (allows uncontrollable events) non-blocking (deadlock free and livelock free) maximally permissive allowing selection of optimal sequence of events Bert van Beek, Industry Day FMWeek Supervisory control synthesis 6/19

10 System view Engineering SCS Tools Applications Conclusions SCS Flavors Plant Event-based State-based Supervisory synthesis flavors Event-based: Plant and control requirements modeled by means of automata Monolithic SCS: synthesis of one (big) monolitic supervisor in the form of an automaton Modular SCS: control requirements partitioned into groups; synthesis of a supervisor for each group Can deal with unobservable events State-based (state tree structures): Plant modeled by means of automata Control requirements modeled by means of automata, by means of predicates over states (state exclusion), and by means of state transition exclusion Monolithic SCS: synthesis of a BDD (Binary Decision Diagram) for each event (very efficient algorithm) No unobservable events Bert van Beek, Industry Day FMWeek Supervisory control synthesis 7/19

11 System view Engineering SCS Tools Applications Conclusions SCS Flavors Plant Event-based State-based Motor and brake Plant model: motor on MotorOff motor off brake on MotorOn BrakeOff brake off BrakeOn Bert van Beek, Industry Day FMWeek Supervisory control synthesis 8/19

12 System view Engineering SCS Tools Applications Conclusions SCS Flavors Plant Event-based State-based Motor and brake Equivalent plant model: MotorOff BrakeOff motor on MotorOn BrakeOff motor off brake off brake on motor on brake off brake on MotorOff BrakeOn motor off MotorOn BrakeOn Bert van Beek, Industry Day FMWeek Supervisory control synthesis 9/19

13 System view Engineering SCS Tools Applications Conclusions SCS Flavors Plant Event-based State-based Motor and brake event-based The brake may not be on when the motor is on. Green area represents safe behavior in plant model: MotorOff BrakeOff motor on MotorOn BrakeOff motor off brake off brake on motor on brake off brake on MotorOff BrakeOn motor off MotorOn BrakeOn Bert van Beek, Industry Day FMWeek Supervisory control synthesis 10/19

14 System view Engineering SCS Tools Applications Conclusions SCS Flavors Plant Event-based State-based Motor and brake event-based Event-based control requirement: MotorOff BrakeOff motor on MotorOn BrakeOff motor off brake off brake on MotorOff BrakeOn Bert van Beek, Industry Day FMWeek Supervisory control synthesis 10/19

15 System view Engineering SCS Tools Applications Conclusions SCS Flavors Plant Event-based State-based Motor and brake event-based In this case, supervisor equals control requirement: MotorOff BrakeOff motor on MotorOn BrakeOff motor off brake off brake on MotorOff BrakeOn Bert van Beek, Industry Day FMWeek Supervisory control synthesis 10/19

16 System view Engineering SCS Tools Applications Conclusions SCS Flavors Plant Event-based State-based Motor and brake state-based Plant model: motor on MotorOff motor off brake on MotorOn BrakeOff brake off BrakeOn State-based control requirement: (BrakeOn MotorOn) Bert van Beek, Industry Day FMWeek Supervisory control synthesis 11/19

17 System view Engineering SCS Tools Applications Conclusions SCS Flavors Plant Event-based State-based Motor and brake state-based Plant model: motor on MotorOff motor off brake on MotorOn BrakeOff brake off BrakeOn State-based control requirement: (BrakeOn MotorOn) Bert van Beek, Industry Day FMWeek Supervisory control synthesis 11/19

18 System view Engineering SCS Tools Applications Conclusions SCS Flavors Plant Event-based State-based Motor and brake state-based Synthesis of supervisor, forbidden state: MotorOff BrakeOff motor on MotorOn BrakeOff motor off brake off brake on motor on brake off brake on MotorOff BrakeOn motor off MotorOn BrakeOn State-based control requirement: (BrakeOn MotorOn) Bert van Beek, Industry Day FMWeek Supervisory control synthesis 12/19

19 System view Engineering SCS Tools Applications Conclusions SCS Flavors Plant Event-based State-based Motor and brake state-based Synthesis of supervisor, disable events: MotorOff BrakeOff motor on MotorOn BrakeOff motor off brake off brake on motor on brake off brake on MotorOff BrakeOn motor off MotorOn BrakeOn State-based control requirement: (BrakeOn MotorOn) Bert van Beek, Industry Day FMWeek Supervisory control synthesis 12/19

20 System view Engineering SCS Tools Applications Conclusions Tool chain Tool chain S R S R.cif SCST S.cif codegen S S/P R S/P D Simulator DE Simulator HY Simulator RT Controller RT P R P DE.cif P HY.cif P Bert van Beek, Industry Day FMWeek Supervisory control synthesis 13/19

21 System view Engineering SCS Tools Applications Conclusions Philips Real-time control of a patient support system Supervisory control synthesis using: modular supervisory control state-based supervisory control Uncontrolled system: 6.3 billion states PICU: Bert van Beek, Industry Day FMWeek Supervisory control synthesis 14/19

22 System view Engineering SCS Tools Applications Conclusions Philips Plant model Patient support table modeled by 19 automata User interface modeled by 8 automata Total uncontrolled systems 6.3 billion states Bert van Beek, Industry Day FMWeek Supervisory control synthesis 15/19

23 System view Engineering SCS Tools Applications Conclusions Philips Control requirements Event-based: 57 automata State-based: 4 automata 50 logical expressions Examples of requirements: Do not move beyond end sensors Only motorized movement if clutch is active Only move vertically if horizontally in maximal out position Tumble switch moves table up and down, or in and out Bert van Beek, Industry Day FMWeek Supervisory control synthesis 16/19

24 System view Engineering SCS Tools Applications Conclusions Philips Synthesized supervisor Supervisor event-based The model of the supervisor consists of 14 modular supervisors The size of each supervisor is in the range of states Supervisor state-based One BDD for each action Validation: The synthesized supervisor has been simulated in parallel with a (hybrid) model of the plant A real-time supervisory controller execution environment has been implemented The synthesized supervisor has been executed in this environment to control the actual patient support system Bert van Beek, Industry Day FMWeek Supervisory control synthesis 17/19

25 System view Engineering SCS Tools Applications Conclusions Conclusions Acknowledgements Conclusions Supervisory control synthesis focusses on ing control requirements instead of ing controllers Control requirements can be read and understood by domain experts and software experts Debugging and improving control requirements instead of debugging and improving control code Prove of concepts in several industrial cases Bert van Beek, Industry Day FMWeek Supervisory control synthesis 18/19

26 System view Engineering SCS Tools Applications Conclusions Conclusions Acknowledgements Acknowledgements Dennis Hendriks, programmer SE Albert T. Hofkamp, scientific programmer SE Jason Markovski, postdoc SE Asia van de Mortel-Fronczak, UD SE Damian Nadalus, PhD student SE Jacobus (Koos) E. Rooda, group leader SE Ramon R.H. Schiffelers, postdoc SE Rong Su, postdoc SE Rolf Teunissen, PhD student SE Peter Thijs, programmer SE Bert van Beek, Industry Day FMWeek Supervisory control synthesis 19/19