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Integrated Process for Control Law Development utilizing Matlab1

机译：使用Matlab1进行控制法开发的集成过程

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In recent years, Matlab has emerged as the commercial tool of choice for control law design and analysis.rnMathWorks is the vendor of Matlab and other integrated products, such as Simulink, StateFlow, and RealTimernworkshop. Simulink is a toolbox that allows control system representation in a graphical format. StateFlowrntoolbox allows graphical definition of state machines. RealTime workshop permits code generation fromrnSimulink/StateFlow, given that a drawing satisfies a particular set of requirements. In the past, use of automatedrncode generators for embedded code was not feasible due to poor efficiency of generated code and lack of sufficientrnprocessing power in embedded. Current generation of embedded processors has sufficient throughput and does notrnrequire super-efficient code. This allows use of moderately efficient, automatically generated code in the embeddedrnsystem. With RealTime Workshop, and an addition of embedded “C” code generator, Matlab is capable ofrnproducing moderately efficient embedded code. Simple practicality makes the use of Matlab and Simulink desirablernfor implementing as much of a system as possible, using a graphical coding tool (Simulink). This approachrnpresents considerable opportunities for cost savings, shortens development time, and allows rapid prototyping of arncontrol system. The requirements imposed on a model for code generation and analysis tend to be different andrnsometimes mutually exclusive. Consideration of process control procedures, such as those in the CapabilityrnMaturity Model (CMM), demand that the requirements for system development, control law analysis, andrnimplementation produce a structure that supports a single seamless process. It is possible to implement such arnprocess using Matlab as a foundation, with additional custom enhancements that aid the development process. Withrnthe addition of a database to manage system data, and interfaces to sensors and effectors, major requirements of thernprocess may be satisfied. The process presented in this paper enables a designer to capture control laws, systemrnlogic, and redundancy management in a graphical format using Simulink. This is done with a set of standardizedrnparts. It also allows the designer to perform linearonlinear analysis, and produce source code - all from a singlernsystem definition drawing. The generated source code is capable of running in a full air vehicle simulationrnenvironment and on the actual flight hardware, without any code changes. A representative example is presented ofrnthe design and analysis of a vertical channel for a S-70 type helicopter utilizing this process.
机译：近年来，Matlab已成为控制律设计和分析的首选商业工具。rnMathWorks是Matlab和其他集成产品（例如Simulink，StateFlow和RealTimernworkshop）的供应商。 Simulink是一个工具箱，允许以图形格式表示控制系统。 StateFlowrntoolbox允许状态机的图形化定义。如果图纸满足一组特定的要求，则RealTime研讨会允许从rnSimulink / StateFlow生成代码。过去，由于生成的代码效率低和嵌入式程序缺乏足够的处理能力，因此无法将自动代码生成器用于嵌入式代码。当前一代的嵌入式处理器具有足够的吞吐量，并且不需要超高效代码。这允许在嵌入式系统中使用适度有效的自动生成的代码。借助RealTime Workshop和附加的嵌入式“ C”代码生成器，Matlab能够生成中等效率的嵌入式代码。简单的实用性使使用Matlab和Simulink成为可取的，以便使用图形编码工具（Simulink）来实现尽可能多的系统。这种方法为节省成本，缩短开发时间并实现arncontrol系统的快速原型化提供了可观的机会。对代码生成和分析模型施加的要求往往不同，有时相互排斥。考虑诸如过程能力成熟度模型（CMM）中的过程控制过程时，要求系统开发，控制规律分析和实现的要求产生支持单个无缝过程的结构。可以使用Matlab作为基础来实现这种arnprocess，并通过附加的自定义增强功能来帮助开发过程。通过添加数据库来管理系统数据以及与传感器和效应器的接口，可以满足过程的主要要求。本文介绍的过程使设计人员可以使用Simulink以图形格式捕获控制规律，系统逻辑和冗余管理。这是通过一组标准化的部分完成的。它还允许设计人员执行线性/非线性分析，并产生源代码-所有这些都来自一个系统定义图。生成的源代码能够在完整的飞行器仿真环境中和实际的飞行硬件上运行，而无需进行任何代码更改。提出了一个典型的例子，说明了使用此过程的S-70型直升机垂直通道的设计和分析。

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