Presentation on Embedded control and software for Autonomous System

Presented by, Bhupendra kharpuse 11AT61R08

Content
 ECS Introduction  Embedded control system design and

algorithm
Embedded software  Timing constraints with embedded

software

Embedded control system

y Control physical systems output y By setting physical systems input (cause-effect relationship) y Tracking y E.g. y Cruise control y Thermostat control y Disk drive control y Aircraft altitude control y Difficulty due to y Disturbance: wind, road, tire, brake; opening/closing door y Human interface: feel good, feel right

Tracking

Embedded control system divided into mainly 2 categories: 1. Open loop control system 2. Close loop control system

Open loop control system

y Plant y Physical system to be controlled y Car, plane, disk, heater, y Actuator y Device to control the plant y Throttle, wing flap, disk motor, y Controller y Designed product to control the plant

Open loop control system

y Output y The aspect of the physical system we are interested in y Speed, disk location, temperature y Reference y The value we want to see at output y Desired speed, desired location, desired temperature y Disturbance y Uncontrollable input to the plant imposed by environment y Wind, bumping the disk drive, door opening

Characteristics of Open loop system

y Feed-forward control. y Delay in actual change of the output. y Controller doesnt know how well thing goes. y Simple. y Best use for predictable systems.

Close loop control system

y Sensor y Measure the plant output y Error detector y Detect Error y Feedback control systems y Minimize tracking error

Characteristics of Close loop system

y Feed-Back control. y Delay in actual change of the output. y Controller know how well thing goes. y Typical. y Mostly use for real time systems.

Embedded control system design

y Design of control system is a specific example of engineering design. y The goal of control engineering design is to obtain.....

a) Configuration b) Specification c) Identification of key Parameter.. To meet an actual need. y Design arranged into 3 groups a) Establishment of goals and variable to be controlled, and definition of specification against which to measure performance. b) System definition and modeling. c) Control system design and integrated system simulation and analysis

Control system design process (Algorithm)

Establish the control goals Identify the variables to be controlled Write the specification Establish the system configuration
If the performance does not meet the specification, then iterate the configuration 2) System definition and modeling. 1) Establishment of goals, variables to be controlled, and specification.

Obtain a model of process, the actuator, and the sensor Describe a controller and select key parameter to be adjusted Optimize the parameters and analyze the performance
If meet then finalize the design

3) Control system design, simulation, and analysis .

General control system analysis

y Objective

Causing output to track a reference even in the presence of  Measurement noise  Model error  Disturbances y Metrics Stability  Output remains bounded Performance  How well an output tracks the reference Disturbance rejection Robustness  Ability to tolerate modeling error of the plant

Performance (generally speaking)

y Rise time  Time it takes form 10% to 90% y Peak time y Overshoot  Percentage by which Peak exceed final value y Settling time  Time it takes to reach 1% of final value

Future evolution of control system

High Fixed automation Extensive flexibility and autonomy Improvements Vision Sensor Language Artificial robotics intelligence Improvements Vision Human-machine interface supervisory control Digital control system

Autonomy

Power tool

Hand tool Low Extended tools Low Control system programmable Flexibility High

Goal of control system

y Extensive flexibility. y High level of autonomy. y Adaptability. y Improved performance of a system. y Increased productivity. y Reliable

Some functional research areas concentrating on Artificial intelligence, sensor integration, computer vision will make system more universal and economical.

Embedded software and Timing constraint

Embedded software
y Software with a principal role of interacting with the

physical world must, of necessity, acquire some properties of the physical world. It takes time. It consumes power. It does not terminate (unless it fails). It is not the idealized procedures of Alan Turing.
y An arrogant view of embedded software is that it is just

software on small computers.

y Embedded software = RTOS + Application program.

Embedded programming abstraction

y Timeliness y Concurrency y Interfaces y Liveness y Reactivity y Heterogeneity

They are essential to the correctness of a program. But not sufficient to realize the right mapping from input data to output data.

y Timelines : The issue is not just that execution takes time.

Even with infinitely fast computers, embedded software would still have to deal with time because the physical processes, with which it interacts, evolve over time.
y Concurrency : Embedded systems rarely interact with

only a single physical process. They must simultaneously react to stimulus from a network and from a variety of sensors, and at the same time, retain timely control over actuators. This implies that embedded software is concurrent.
y Interface : For embedded software to benefit from a

component technology, that component technology will have to include dynamic properties in interface definitions.

y Liveness : In embedded systems, liveness is a critical

issue. Programs must not terminate or block waiting for events that will never occur. In embedded computing, however, terminating programs are defective. The term deadlock pejoratively describes premature termination of such systems. It is to be avoided at all costs.
y Reactivity : Reactive systems are those that react

continuously to their environment at the speed of the environment.

y Heterogeneity : Heterogeneity is an intrinsic part of

computation in embedded systems. They mix computational styles and implementation technologies.

Programming Languages Used in New Embedded Designs

C C++ C# Java Assembly Others 0.00% 10.00% 20.00% 30.00% 40.00% 50.00% 60.00% 70.00%

Commercial operating system used in embedded software design

Microsoft Emb. Wind River Symbian Green Hills Palm Others 0.00% 5.00% 10.00% 15.00% 20.00% 25.00% 30.00%

Embedded software: Modeling Timing constraint

 A timing constraint:  Defined with respect to some event.  An event:  Can occur at an instant of time  May also have duration  Generated either by the system or its environment  Events in real time system  Stimulus Events  Response Events

Classification of Timing Constraints

Different timing constraints can broadly be classified into:
 Performance constraints.  Behavioural constraints.

Both performance and behavioural constraints can be classified into:

 Delay Constraints  Deadline Constraints  Duration Constraints

Timing Constraints
Performance Constraints Behavioural Constraints

Delay

Deadline

Duration

Delay

Deadline

Duration

RR

SR

RR

SR

RS

SS

RS

SS

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Need of Timing constraint

Modelling time constraints in a system:
 Can serve as a formal specification of the system.  May be used to automatically generate code.  Can help to understand real-time behaviour.

Several approaches can be used.

 We discuss an approach based on FSM proposed by

Dasarathy (IEEE TSE, 1985). A state is defined in terms of the values assumed by some attributes.
 The states of an elevator may be denoted in terms of its

directions of motion.
 Values of the attribute direction define the states up,

down, and stationery.

References
y To appear in Advances in Computers (M. Zelkowitz, editor), y

y y

Vol. 56, Academic Press, London, 2002. E Balarin, M. Chiodo, E Giusto, H. Hsieh, A. Jurecska, L. Lavagno, C. Passerone, A. Sangiovanni-Vincentelli, E. Sentovich, K. Suzuki, and B.Tabbara. Hardware-Software Co-Design of Embedded Systems: The Polis Approach. Kluwer Academic Press, 1997. G. Berry, P. Couronne, and G. Gonthier, The synchronous approach to reactive and real-time systems, Proc. IEEE, vol. 79, Sept. 1991. Real time system Prof. Rajib Mall Modern control system Dorf,Bishop