Thit k theo m hnh cho b iu khin li tu thy t ng vi RT-UML and MDA.

Tch hp ngn ng m hnh ha h thng SysML/Modelica thc thi cc h thng ng lc cng nghipNguyn Hoi Nam 1, Ng Vn Hin 2, V Duy Quang 2

1 Trng i hc Kinh t - K thut Cng nghip

2 Trng i hc Bch khoa H niTm tt: SysML (System Modeling Luaguage) l ngn ng m hnh ha hng i tng c chun ha bi hip hi hng i tng quc t OMG (Object Management Group); mc ch chnh ca n l dng m t cc m hnh qun tr yu cu, phn tch, thit k v thc thi cc h thng ng lc phc tp v cu trc, ng x ng, c tnh v cc yu cu rng buc vn hnh. Bn cnh , Modelica cng l ngn ng m hnh ha hng i tng; nhng n c s dng ch yu phn tch cc yu t ng lc hc lin tc v ri rc ca h thng phc tp da trn vic gii cc phng trnh vi phn v i s. Bi bo ny gii thiu s tch hp kh nng m hnh ha ca SysML vi sc mnh phn tch v tnh ton ca m hnh Modelica nhm cung cp mt gii php phn tch, thit k v thi hnh h thng ng lc hc cng nghip mt cch ni bt hn hn so vi vic s dng SysML hoc Modelica ring l. Mt ng dng v li tu thy t ng c thit k v m phng li nhm minh ha cho cc im ni bt ca s tch hp SysML v Modelica trong pht trin cc h thng ng lc cng nghip.An integration of system modeling languages SysML/Modelica to implement industrial dynamic systems

Abstract: SysML is an object-oriented modeling language, which is standardized by OMG. It is mainly used to specify requirement management, analysis, design and implementation models of complex dynamic system in terms of their structure, behavior, properties, and operational constraints. Besides, Modelica is also the object-oriented modeling language; but it is primarily used to analyze the continuous and discrete time dynamics of complex systems based on solving differential and algebraic equations. This paper introduce the integration of the descriptive power of SysML models with the analytic and computational power of Modelica models provides a solution of the analysis, design and realization of industrial dynamic system that is significantly greater than SysML or Modelica individually. An application of ship autopilot systems is retro-designed and simulated to illustrate the power of the SysML/Modelica in industrial dynamic system development.

1.Gii thiuCc h thng ng lc cng nghip km theo cc thit b iu khin ca chng c xt ti cc m hnh ri rc, m hnh ng x lin tc v tng tc gia cc m hnh ny, c gi l h thng ng lc lai [15] (HDS: Hybrid Dynamic Systems). Nhng m hnh ng x ny c phn phi trn cc chc nng hot ng khc nhau ca h thng. Hn na, phn iu khin ca h thng ng lc cng nghip lun lun khng c ng x ging nhau ti cc thi im xem xt. Do , cc m hnh ng x iu khin ca n s phi c kt hp vi gi thuyt hp l kim tra ti mi thi im. ng x ca cc h thng ny l kh phc tp. Vic m phng cc h thng iu khin cng nghip l mt nhu cu tt yu, c bit khi cc h thng ngy cng tr nn phc tp. Xuyn sut ton b qu trnh thc hin mt d n bao hm t xut tng thit k cho n trin khai v vn hnh h thng, m phng cho php kim tra, nh gi nhiu phng n khc nhau, t a ra c gii php ti u nht thc thi h thng [14]. Trong bi bo ny, chng ta ch xt n vic m hnh ha v m phng phn iu khin cho cc h thng ng lc cng nghip l HDS v m hnh ng lc hc ca n c c t bi automate lai [2], [5] (HA: Hybrid Automata). Bn cnh , trong ng cnh sn xut cng nghip, chng ta cn phi xem xt s dng tch hp cc chun phn tch, thit k v thi hnh h thng iu khin. Tnh ti s dng v ty bin cc m un iu khin pht trin c p dng cho h thng ng dng mi l rt quan trng, nhm gim chi ph, thi gian v nhn cng sn xut [7], [16]. nc ta, vic xem xt s dng cc chun dng phn tch thit k h thng iu khin, ti s dng v ty bin cc m un iu khin pht trin vn cn hn ch.Xut pht t cc mc tiu trn y, chng ti a ra mt kin trc tch hp tng th bng ngn ng m ha h thng SysML/Modelica [12] nhm m hnh ha v m phng mt cch hiu qu phn iu khin ca cc h thng ng lc cng nghip. Mt ng dng v h thng li tu thy t ng c thit k v m phng li nhm minh ha cho cc im ni bt ca s tch hp SysML v Modelica trong pht trin cc h thng ng lc cng nghip. H thng li ny cho php con tu c th thc hin hnh trnh theo chng trnh t trc. Ni dung chnh ca bi bo bao gm: Tng quan v vai tr ca m hnh ha trc quan v m phng cc h thng iu khin cng nghip; S dng SysML/Modelica trong m hnh ha hng i tng; Kin trc tch hp tng th thc thi phn tch, thit k, m phng v thi hnh phn iu khin cho cc h thng ny.2.Vai tr ca m hnh ha trc quan v m phng cc h thng iu khin cng nghipM hnh ho trc quan l mt phng thc t duy v vn thng qua vic s dng cc m hnh c m t bng ha xoay quanh cc hin tng trn thc t. M hnh rt hu dng trong vic c t, trc quan, lp ti liu v thit k h thng pht trin cng nh ngn hng d liu ca n [10]. Chng ta xy dng m hnh ca nhng h thng phc tp bi v chng ta khng th nm bt c cu trc v ng x mt cch ng thi ca ton b h thng [1]. c bit trong lnh vc iu khin cng nghip, h thng cng phc tp th vic m hnh ha trc quan cng quan trng. Sau khi xy dng m hnh, chng ta c th t c cc mc tiu chnh nh sau:

- Trc quan ha v c t chi tit cu trc v ng x ca h thng nhm c th cc yu cu nghip v ca n.

- a ra cc ti liu hng dn c th trong sut qu trnh xy dng h thng.

- To ra h s ti liu chi tit v phn tch, thit k v thc thi h thng nhm nng cp v bo tr mt cch d dng cho sn phm khi cn thit.Vic m phng ca h thng iu khin cng nghip l mt nhu cu tt yu, c bit khi cc h thng ngy cng tr nn phc tp. T xut tng thit k cho n thc thi v vn hnh h thng, m phng cho php kim tra, phn tch v nh gi nhiu gii php khc nhau, t chng ta c th la chn c gii php ti u thc thi trin khai trong thc t [14]. Yu cu m phng h thng iu khin cng nghip xut pht t nhiu yu t khc nhau, tuy nhin chng ta c th a ra mt s yu t chnh nh sau:

- u t cho cc h thng iu khin cng nghip thc thng rt cao; c bit l cc trang thit b dng trong iu khin, vn hnh h thng v m bo an ton cho con ngi.

- M phng cc h thng cho php thc hin vic nh gi, kim tra cht lng h thng trc khi thc thi trin khai chng trong thc t, nht l vi cc h thng cng nghip phc tp v qui m s dng ln.

- M phng cho php qu trnh thit k, xy dng v vn hnh h thng c thc hin linh hot v hiu qu theo cc ch hot ng phc tp khc nhau trn thc t.2.S dng SysML-Modelica trong m hnh ha v m phng hng i tng2.1 Ngn ng m hnh ha h thng SysMLSysML l ngn ng m hnh ha hng i tng c chun ha bi hip hi hng i tng quc t OMG [11]. N c dng m t cc m hnh qun tr yu cu, phn tch, thit k v thc thi cc h thng ng lc phc tp v cu trc, ng x ng, c tnh v cc yu cu rng buc vn hnh. Cc loi s m t trong SysML c th hin trn hnh 1.

Hnh 1. Tng quan cc s trong SysML lin quan vi UMLCc s v cu trc v ng x trong SysML ch yu k tha t ngn ng m hnh ha hp nht (UML: Unified Modeling Language) [20]. Tp hp cc s ng x v cu trc kt hp vi s yu cu v tham s cung cp mt ci nhn tch hp ton cc cho h thng ang pht trin. Cc m hnh ha ny cung cp mt c ch t chc, truy nhp, ng xut v lit k cc d liu ca h thng c m t trong thnh phn lu tr v qun l cc thng s hot ng. S yu cu th hin nghip v ca h thng v cho php lin kt vi thnh phn khc ca m hnh, nhm cung cp ngun gc truy xut r rng gia cc yu cu vi m hnh thit k ca h thng ang pht trin. S tham s cung cp mt phng tin xc nh s ph thuc ln nhau gia cc gi tr ca mt s thuc tnh h thng v c th cung cp mt cu ni gia cc m hnh c m t trong SysML v m hnh m phng khc vi cc m hnh phn tch v thit k k thut [9]. Thng qua cc phn m rng, SysML c th c s dng mt cch c hiu qu phn tch, thit k v kim nh cc h thng iu khin cng nghip phc tp. c t chi tit ca SysML c th xem trong [10].2.2 Ngn ng hng i tng ModelicaNgn ng Modelia [13] c pht trin bi mt nhm cc nh khoa hc chu u trong n lc to ra mt ngn ng m hnh ha v m phng thng nht v hin i, hng i tng v phi nhn qu. L mt ngn ng hng i tng, Modelica nh ngha cc loi h thng con vt l, v d nh l ng c servo, phn t thy lc iu khin, khi iu khin, v.v nh l cc lp i tng [14]. ng x ca lp i tng c th c m t bng cc phng trnh i s, phng trnh vi phn, hoc cc thut ton, v.v Modelica h tr c t cc ng x da trn s kin; do , n cho php d dng m t cc m hnh ri rc v lin tc ca h thng ng lc lai (HDS). Mt lp i tng c th tha k cu trc v ng x t lp khc ty thuc vo tnh nhn thy c ca chng. c t chi tit ca Modelica c th c tham kho trong [12], [14]. nh gi v phng php m phng hng i tng thng qua s dng ngn ng m hnh ha v m phng chuyn dng Modelica c th hin trong bng 1.

Bng 1. Kh nng m hnh ha v m phng h thng cng nghip vi Modelica

Tnh chnh xc chnh xc cao do c h tr cc thut ton, c bit l trong tnh ton.

Kh nng m phng- C kh nng m phng c nhiu loi h thng vt l khc nhau.- M t h thng ng nh bn cht vt l m chng tn ti.- Kh nng ng dng trong nhiu ngnh: c kh, in-in t, c-in t, my v thit b thy kh, v.v...

Tnh linh hot- Tnh linh hot cao do khng ph thuc vo vic la chn u vo/u ra.- D dng thay i m hnh: c th thm vo hoc loi b cc thnh phn.

Tnh ti s dng- C th xy dng m hnh t cc thnh phn c sn.- C th to m hnh mi k tha t cc m hnh khc pht trin.

- Th vin phong ph cho nhiu loi i tng cn m phng.

Tnh n gin v trc quan- Giao din thit k ha thun tin v trc quan, mt s chc nng cho php m t hot ng ca h thng bng hnh nh ha.

Kh nng tch hp- H tr giao tip vi cc phn mm ph bin (Matlab/Simulink, Mathematica, v.v) hoc kt xut m hnh ra m ngun C/C++, Fortran, Java, v.v

- L ngn ng m hnh ha v lp trnh hng i tng, nn Modelica c tch hp mnh m vi cc cng c v ngn ng m hnh ha hng i tng khc.

2.3 Tch hp SysML-ModelicaCch tip cn tch hp SysML-Modelica trc ht l c t phn m rng SysML cho cc th tc ca Modelica, hay cn c gi l SysML4Modelica [12], [18]. Phn m rng SysML ny s i din cho cc cu trc Modelica v sau c s dng xc nh chuyn i SysML-Modelica gia cc cu trc c th vi ngn ng Modelica v ngc li. Cch tip cn tch hp ny c thit k n gin ha vic chuyn i SysML-Modelica v cho php m hnh h thng iu khin ang pht trin d dng ti s dng c thnh phn trong th vin m hnh hin c ca Modelica. Bng cch ny, ngi s dng trc tin to ra cc m hnh phn tch v thit k h thng trong cc cng c phn mm m hnh ha vi SysML. Sau , ngi dng chn m hnh c phn tch v thit k vi SysML mun chuyn i (v d: mt h thng con) v p dng phn m rng SysML4Modelica to ra m hnh pht trin mi trong khung nhn Modelica. T , m hnh ca h thng pht trin trong khung nhn Modelica c th c thc thi mt cch nhanh chng bi cc cng c phn mm m phng hng i tng, v d nh l OpenModelica m ngun m [13]. Hnh 2 v hnh 3 gii thiu mt v d n gin minh ha cho s tch hp m hnh SysML-Modelica. Hnh 2. V d m hnh phn tch vi SysML4Modelica

Hnh 3. M chng trnh m phng c t ng sinh ra vi cng c OpenModelica

Do , s tch hp kh nng m hnh ha ca SysML vi sc mnh phn tch v tnh ton ca m hnh m phng Modelica cung cp cho chng ta mt gii php phn tch, thit k v thi hnh h thng ng lc hc cng nghip mt cch ni bt hn hn so vi vic s dng SysML hoc Modelica ring l [12]. Chuyn i m hnh SysML-Modelica c th xem nh l mt trong nhng ng dng c bn ca kin trc hng m hnh (MDA: Model-Driven Architecture) [19]. Kin trc tch hp thng qua MDA ny s c trnh by trong ni dung tip theo ca bi bo nhm phn tch, thit k, m phng v thi hnh mt cch nhanh chng v hiu qu cho phn iu khin ca cc h thng ng lc cng nghip.3.Kin trc tch hp thc thi SysML-Modelica trong thit k iu khin cc h thng ng lc cng nghip3.1 Tng quan v kin trc hng theo m hnhT chc hng i tng quc t OMG a ra phng php kin trc hng m hnh (MDA) [10] nhm ng dng trong vic pht trin mt cch hiu qu cc h thng thng tin ni chung v cc h thng iu khin cng nghip ni ring. MDA cho php tch cc c t chc nng ca mt h thng c lp vi cc c t thc thi chc nng trn mt nn cng ngh c th. Phng php MDA c cc c im chnh nh l: tnh linh hot, di ng, xuyn sut gia ng dng pht trin vi cc h thng tng tc v kh nng d dng ti s dng cc thnh phn pht trin nhm gim thi gian, chi ph v nhn lc cho cc d n iu khin cng nghip [8], [19]. Cc m hnh chnh ca MDA bao gm:

- M hnh c lp vi thao tc tnh ton (CIM: Computation Independent Model) th hin h thng mc phn tch nghip v;- M hnh c lp vi nn cng ngh (PIM: Platform Independent Model) c t cc chc nng h thng nhng c lp vi cc nn cng ngh thc thi h thng;- M hnh theo nn cng ngh c th (PSM: Platform Specific Model) c t cc chc nng h thng theo mt nn cng ngh c th c la chn thc thi h thng.Ngoi ra, MDA cho php chuyn i gia cc cc m hnh vi nhau; n da trn vic s dng mt c ch nht nh bin i cc m hnh mc tru tng ho cao thnh cc m hnh mc c th v chi tit hn da trn s nh ngha cc lut chuyn i [10]. l s chuyn t CIM sang PIM, t PIM sang PSM, v t PSM c th chuyn thnh m chng trnh c th thc thi h thng. Vic chuyn i gia cc m hnh c th c thc hin qua thao tc th cng, chuyn i t ng da vo cc mu chuyn i khc nhau tu thuc vo nhng cng c chuyn i v nn cng ngh ch, hoc kt hp c hai phng thc [8].

3.2 Tch hp SysML-Modelica da trn MDA trong thit k phn iu khin cc h thng ng lc cng nghip Da vo cc c trng chung ca cc h thng ng lc cng nghip l HDS v m hnh ng lc hc ca n c c t bi automate lai [2], [5], s c th ha SysML-Modelica v MDA trn, chng ta p dng y mt quy trnh tch hp SysML-Modelica da trn MDA thc thi phn iu khin ca cc h thng ng lc cng nghip v c th ti s dng qui trnh ny trong ng dng iu khin cng nghip khc nhau (Hnh 4). Qui trnh ny c m t khi qut nh sau:- M hnh qun tr yu cu v trng hp s dng c c t trong CIM, n cho php phn tch cu trc v ng x ca mt HDS cng nghip. Theo c im ca CIM, automate lai [2], [5] c dng m t cc ng x ton hc ca HDS pht trin(v d: v tr cc ch hot ng, bin trng thi, dch chuyn trng thi, ng x lin tc ton cc, tp hp s kin tc ng, v.v); SysML c s dng th hin chuyn i automate xc nh sang m hnh i tng nghip v ca HDS.- M hnh thit k vi SysML-Modelica ch ra PIM trong ton b cc giai on thit k chi tit ca h thng ang pht trin. Nhng m hnh ny c m t bng cch s dng cc s trong SysML v cc th tc ca Modelica nhm trc quan ha chi tit cu trc tnh v ng x ng ca h thng [14].

Hnh 4. Qui trnh tch hp SysML-Modelica da trn MDA cho HDS cng nghip

- M hnh thc thi vi ngn ng Modelica c s dng a ra PSM ca h thng ang pht trin nhm thc hin m phng, kim nh v nh gi tch hp h thng ny. giai on ny, chng ta c th s dng cc cng c phn mm m ngun m, nh l OpenModelica [13] h tr cho vic m phng v thc thi mt cch d dng phn iu khin ca h thng. Cc lut chuyn i cho php cc CIM c xc nh chuyn i thnh PIM v tip theo chuyn i cc PIM vo mt PSM c th. Trong qu trnh chuyn i, c tn ti cc Vt theo di chuyn i cho php theo di s chuyn i gia cc m hnh. Chi tit cc bc phn tch, thit k, thc thi, cc qui tc chuyn i v ti s dng cc m hnh trong qui trnh tch hp ny c th tham kho trong [6].4.ng dngTrong bi bo ny, chng ti p dng cch tip cn tch hp SysML-Modelica c m t trn y phn tch, thit k v m phng li h thng iu khin li tu thy t ng cho tu m hnh [6]. H thng ny cho php tu m hnh c th thc hin hnh trnh theo chng trnh nh trc. Xut pht t c s l thuyt v m hnh ng lc hc iu khin ca h thng li tu thy t ng [3], [17], chng ta a ra y s khi chc nng hot ng mt cch tng quan ca h thng li ny nh trn hnh 5. Trong m hnh ny, chng ta c s dng s kt hp gia b gii hn tn hiu (Limiter) v b iu khin PID (Proportional - Integral - Derivative) trc khi qua b khuch i cng sut (KCS) nhm ci thin hiu nng v cht lng ca h thng. Da trn cc yu cu cng nghip rng buc, chc nng hot ng ca h thng li tu thy t ng [17] v cc c im ca h thng ng lc lai (HDS) [2], [5], ta thy rng h thng ny l mt h thng ng lc lai cng nghip. Hn th na, n bao gm cc s kin bn ngoi nh l kt ni vi cc h thng nh gi nhiu, h thng nh v ton cu (GPS: Global Positioning Systems); n cng c cc tn hiu pht sinh ni b khng theo thi gian thng qua cc thnh phn iu khin nh l b gii hn tn hiu (Limiter). Chnh v th, ng x ca h thng li ny c th c m hnh ha bi automate lai [2].

Hnh 5. Cu trc iu khin ca ng dng li tu thy t ng

Hnh 6. M phng p ng qu iu khin hng i ca tu thy m hnh vi cng c phn mm m ngun m OpenModelica tin hnh kim tra v nh gi m hnh thit k, cc qui tc chuyn i t m hnh thit k vi SysML sang cng c phn mm m phng OpenModelica m ngun m [13] c ch ra v p dng trong m phng hiu nng iu chnh ca h thng. Mt trong nhng kt qu m phng p ng iu khin c gii thiu trn hnh 6; n da trn c cu chp hnh li bao gm: Servo-Vavle thy lc iu khin (mang c im ca khu dao ng) v h xi lanh thy lc (mang c im ca khu qun tnh). Cc thng s m phng vi tu thy m hnh: thi gian ly mu T = 0,01; h s khuch i Kp = 1,2; thi gian tch phn Ti = 0,47; thi gian o hm Td = 0,05; h s phn hi gc Kss1 = 0,5; h s phn hi hng v v tr Kss2 = 0,3; T1v=0,25; T2v=0,4; Tc = 0,25, Ts = 1,5; T1v, T2v- cc hng s thi gian bc 1 v 2 ca Servo-Valve thy lc, Tc- thi gian qun tnh ca xy lanh thy lc, Ts- thi gian qun tnh ca tu thy m hnh. Trong trng hp ny, qu iu khin hng dao ng 1 ln, sai lch tnh khng ng k v thi gian iu chnh hng l 4,5s. Kt qu ny l chp nhn c trong lnh vc iu khin cc phng tin hng hi [17].5.Kt lun

Trong bi bo ny, chng ti cp ti nghin cu tch hp ngn ng m ha h thng SysML-Modelica phn tch, thit k v thc thi m phng phn iu khin ca cc h thng ng lc cng nghip. Da trn cc nghin cu v nh gi v m hnh ha trc quan, ngn ng m hnh ha h thng SysML, ngn ng m phng hng i tng Modelica v s c th ha kin trc hng m hnh MDA, bi bo a ra quy trnh tch hp SysML-Modelica da trn MDA nhm nh gi mt cch nhanh chng hiu nng iu khin v cc chc nng hot ng ca phn iu khin trong cc h thng ng lc cng nghip. T , chng ta c th d dng xc nh c cc phn t thit k iu khin ca h thng trc khi thi hnh v trin khai n trong thc t. Kin trc ca qui trnh tch hp ny cng c th c ty bin v ti s dng trong cc ng dng iu khin khc nhau cho cc h thng ng lc cng nghip mang c im ca h thng ng lc lai. Mt ng dng v h thng iu khin li tu thy t ng c thit k v m phng li nhm minh ha cho cc im ni bt ca s tch hp SysML v Modelica trong pht trin cc h thng ng lc cng nghip. Trong thi gian tip theo, chng ti s pht trin m hnh tch hp m phng ny kt ni vi cc b vi iu khin v thit b nhng hng i tng, nhm thc hin mt cch hiu qu pha trin khai phn iu khin cho cc h thng ng lc cng nghip trn thc t.

Li cm n

Cc kt qu nghin cu trong bi bo ny c h tr ti chnh t ti nghin cu khoa hc v cng ngh tim nng, m s KC03.TN05/11-15, ti B mn K thut Thy kh & Tu thy, Vin C kh ng lc, Trng i hc Bch Khoa H Ni.Ti liu tham kho

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