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Modeling the Behavior Process of Electromechanical Systems Based on Behavior Trees

机译：基于行为树的机电系统的行为过程建模

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Due to the application of embedded and integrated techniques, electromechanical systems are increasingly becoming complex, especially in the logical relationships for functions and behaviors. Any mistakes in the logical relationships might lead to a hazardous system failure and produce serious consequences. In order to ensure the correctness of the logical relationships, formal methods could be adopted to model the behavior process early in the design phase. The formal notations used in formal modeling, however, are usually difficult to understand. The behavior trees are a kind of graphical modeling notation, which describes the system by a progressive fashion and provides an intuitive understanding of the system. In this paper, behavior trees notation is introduced to model the behavior process of electromechanical systems. From the view of the FBS (Function-Behavior-State) modeling, behaviors are represented as states and their transitions. Taking the behavior process as a discrete event dynamic system, generating of an event and driving of a state transition by the event in the behavior process are investigated and their representations are proposed. Semantics and syntax of the behavior trees are discussed, and representation of states, events and control logics in state transitions is presented based on the characteristics of the state transitions of the electromechanical systems. An approach to modeling behavior process based on behaviors trees is proposed. An example of the feed drive system in a CNC machine tool is presented to illustrate the modeling approach presented in this paper.
机译：由于嵌入式和综合技术的应用，机电系统越来越复杂，尤其是在函数和行为的逻辑关系中。逻辑关系中的任何错误可能导致危险的系统失败，产生严重后果。为了确保逻辑关系的正确性，可以采用正式的方法来提高设计阶段的行为过程。然而，正式建模中使用的正式符号通常很难理解。行为树是一种图形建模符号，其通过渐进式描述了该系统，并为系统提供了直观的理解。在本文中，引入了行为树符号以模拟机电系统的行为过程。从FBS（函数行为状态）建模的视图，行为被表示为状态及其转换。将行为过程作为离散事件动态系统，研究了在行为过程中产生事件和驱动状态转换，并提出了它们的表示。讨论了行为树的语义和语法，并基于机电系统的状态转换的特性来呈现状态转换中的状态，事件和控制逻辑的表示。提出了一种基于行为树建模行为过程的方法。提出了CNC机床中的馈送驱动系统的示例以说明本文中呈现的建模方法。

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