Lecture 9 – Modeling, Simulation, and
Systems Engineering
• Development steps
• Model-based control engineering
• Modeling and simulation
• Systems platform: hardware, systems software.
EE392m - Spring 2005 Control Engineering 9-1
Gorinevsky
Control Engineering Technology
• Science
– abstraction
– concepts
– simplified models
• Engineering
– building new things
– constrained resources: time, money,
• Technology
– repeatable processes
• Control platform technology
• Control engineering technology
EE392m - Spring 2005 Control Engineering 9-2
Gorinevsky
Controls development cycle
• Analysis and modeling
– Control algorithm design using a simplified model
– System trade study - defines overall system design
• Simulation
– Detailed model: physics, or empirical, or data driven
– Design validation using detailed performance model
• System development
– Control application software
– Real-time software platform
– Hardware platform
• Validation and verification
– Performance against initial specs
– Software verification
– Certification/commissioning
EE392m - Spring 2005 Control Engineering 9-3
Gorinevsky
Algorithms/Analysis
Much more than real-time control feedback computations
• modeling
• identification
• tuning
• optimization
• feedforward
• feedback
• estimation and navigation
• user interface
• diagnostics and system self-test
• system level logic, mode change
EE392m - Spring 2005 Control Engineering 9-4
Gorinevsky
Model-based Control Development
Conceptual Control design model: Conceptual control
Controls analysis
algorithm:
Analysis
x(t+1) = x(t) + u(t) u = -k(x-xd)
Application Detailed simulation Detailed control application:
code: Simulink model saturation, initialization, BIT,
fault recovery, bumpless transfer
Systems platform:
System and software
Validation and Hardware-in-the- Prototype Run-time code, OS
verification loop sim controller Hardware platform
Deployed
Deployment Physical plant
controller
EE392m - Spring 2005 Control Engineering 9-5
Gorinevsky
Controls Analysis
Conceptual Data model Identification & tuning
Analysis Fault model Accomodation
x(t+1) = x(t) + u(t) algorithm:
=-k x-x
Control design model: Conceptual ( dcontrol)
algorithm:
x(t+1) = x(t) + u(t) u = -k(x-xd)
Application Detailed Detailed control application:
code: simulation saturation, initialization, BIT,
fault recovery, manual/auto
Simulink model mode, bumpless transfer,
startup/shutdown
EE392m - Spring 2005 Control Engineering 9-6
Gorinevsky
The rest of the lecture
• Modeling and Simulation
• Deployment Platform
• Controls Software Development
EE392m - Spring 2005 Control Engineering 9-7
Gorinevsky
Modeling in Control Engineering
Physical system
• Control in a Measurement Control Control
system computing handles
system
Sensors Actuators
perspective
• Control analysis
Physical
perspective system
Control
computing
Measurement System model Control
model handle
model
9-8
Models
• Why spend much time talking about models?
– Modeling and simulation could take 80% of control analysis effort.
• Model is a mathematical representations of a system
– Models allow simulating and analyzing the system
– Models are never exact
• Modeling depends on your goal
– A single system may have many models
– Large ‘libraries’ of standard model templates exist
– A conceptually new model is a big deal (economics, biology)
• Main goals of modeling in control engineering
– conceptual analysis
– detailed simulation
EE392m - Spring 2005 Control Engineering 9-9
Gorinevsky
Modeling approaches
• Controls analysis uses deterministic models. Randomness
and uncertainty are usually not dominant.
• White box models: physics described by ODE and/or PDE
• Dynamics, Newton mechanics
x& f (x,t)
• Space flight: add control inputs u and measured outputs y
x& f (x,u,t)
y g(x,u,t)
EE392m - Spring 2005 Control Engineering 9-10
Gorinevsky
Orbital mechanics example
• Newton’s mechanics
– fundamental laws
– dynamics
r
v& = −γm ⋅ 3 + Fpert (t)
r
1643-1736 v r
r& = v
r1
• Laplace r2
– computational dynamics r3
(pencil & paper computations) x& f (x,t) x = v1
– deterministic model-based prediction
1749-1827 9-11
v
2
v
Sampled and continuous time
• Sampled and continuous time together
• Continuous time physical system + digital controller
– ZOH = Zero Order Hold
A/D, Sample Control D/A, ZOH
computing
Sensors Physical Actuators
system
Servo-system modeling
• Mid-term problem
• First principle model: electro-mechanical + computer sampling
• Parameters follow from the specs
F c
u g m M
β b
m&y& + βy& + b( y& − x&) + c( y − x) = F
M&x& + b(x& − y&) + c(x − y) = 0
&
F = fI , TI I + I = gu
Finite state
machines
• TCP/IP State Machine
Hybrid systems
• Combination of continuous-time dynamics and a state machine
• Thermostat example
• Analytical tools are not fully established yet
• Simulation analysis tools are available
– Stateflow by Mathworks
off x 70 on
x 72 x& = − Kx x& = K (h − x) x
x ≥ 70 x ≤ 75
x 75
EE392m - Spring 2005 Control Engineering 9-15
Gorinevsky
PDE models
• Include functions of Example: sideways heat equation
spatial variables x
– electromagnetic fields
– mass and heat transfer T =u T =0
– fluid dynamics inside outside
– structural deformations
• For ‘controls’ simulation, model y
heat flux
reduction step is necessary
– Usually done with FEM/CFD data ∂ 2
T ∂ T
k 2
– Example: fit step response ∂t ∂x
T (0) u; T (1) 0
∂T
y
∂x x1
Simulation
• ODE solution
– dynamical model: x& f (x,t)
– Euler integration method: x(t d ) x(t) d ⋅ f x(t), t
– Runge-Kutta method: ode45 in Matlab
• Can do simple problems by integrating ODEs
• Issues with modeling of engineered systems:
– stiff systems, algebraic loops
– mixture of continuous and sampled time
– state machines and hybrid logic (conditions)
– systems build of many subsystems
– large projects, many people contribute different subsystems
EE392m - Spring 2005 Control Engineering 9-17
Gorinevsky
Simulation environment
• Simulink by Mathworks
• Matlab functions and analysis
• Stateflow state machines
• Ptolemeus -
UC Berkeley
• Block libraries
• Subsystem blocks
developed independently
• Engineered for developing
large simulation models
• Controller can be designed
in the same environment
• Supports generation of
run-time control code
Model development and validation
• Model development is a skill
• White box models: first principles
• Black box models: data driven
• Gray box models: with some unknown parameters
• Identification of model parameters – necessary step
– Assume known model structure
– Collect plant data: special experiment or normal operation
– Tweak model parameters to achieve a good fit
EE392m - Spring 2005 Control Engineering 9-19
Gorinevsky
First Principle Models - Aerospace
Airbus 380: $13B development
• Aircraft models
• Component and
subsystem modeling
and testing
• CFD analysis
• Wind tunnel tests – to
adjust models (fugde
factors)
• Flight tests – update
aerodynamic tables and
flight dynamics models NASA Langley – 1998
HARV – F/A-18
Step Response Model - Process
• Dynamical control inputs
matrix
control
(DMC) measured outputs
• Industrial
processes
EE392m - Spring 2005 Control Engineering 9-21
Gorinevsky
Approximate Maps
• Analytical expressions are rarely sufficient in practice
• Models are computable off line
– pre-compute simple approximation
– on-line approximation
• Models contain data identified in the experiments
– nonlinear maps
– interpolation or look-up tables
– AI approximation methods
• Neural networks
• Fuzzy logic
• Direct data driven models
EE392m - Spring 2005 Control Engineering 9-22
Gorinevsky
Empirical Models - Maps
• Aerospace and automotive – have most developed
modeling approaches
Example
• Aerodynamic tables
• Engine maps
– turbines – jet engines
– automotive - ICE
TEF=Trailing Edge Flap
EE392m - Spring 2005 Control Engineering 9-23
Gorinevsky
Empirical Models - Maps
• Process control mostly uses empirical models
• Process maps in
semiconductor
manufacturing
• Epitaxial growth
(semiconductor
process)
– process map for
run-to-run control
EE392m - Spring 2005 Control Engineering 9-24
Gorinevsky
Multivariable B-splines
• Regular grid in multiple variables
• Tensor product of B-splines
• Used as a basis of finite-element models
y(u, v) ∂ wj,k Bj (u)Bk (v)
j,k
EE392m - Spring 2005 Control Engineering 9-25
Gorinevsky
Neural Networks
• Any nonlinear approximator might be called a Neural Network
– RBF Neural Network
– Polynomial Neural Network Linear in parameters
– B-spline Neural Network
– Wavelet Neural Network
• MPL - Multilayered Perceptron
– Nonlinear in parameters
– Works for many inputs
1 1 w2,0
y(x) w1,0 f ∂
w y
1, j j
,y
j f ∂
w x
2, j j
j j
1 − −x y
f (x) = e y=f(x)
1 + e− x x
EE392m - Spring 2005 Control Engineering 9-26
Gorinevsky
Multi-Layered Perceptrons
• Network parameter computation
– training data set Y = y(1) K y( N )
– parameter identification
x (1) K x( N )
y(x) F (x;θ )
• Noninear LS problem
V = ∂ y( j ) − F (x( j ) ;θ ) 2 → min
j
• Iterative NLS optimization
– Levenberg-Marquardt
• Backpropagation
– variation of a gradient descent
EE392m - Spring 2005 Control Engineering 9-27
Gorinevsky
Neural Net application
• Internal Combustion Engine
maps
• Experimental map:
– data collected in a steady state
regime for various
spark
combinations of parameters advance RPM
– 2-D table
• NN map
– approximation of the
experimental map
– MLP was used in this example
– works better for a smooth
surface
EE392m - Spring 2005 Control Engineering 9-28
Gorinevsky
Fuzzy Logic
• Function defined at nodes. Interpolation scheme
• Fuzzyfication/de-fuzzyfication = interpolation
• Linear interpolation in 1-D
∑ y j j (x)
j
∂ j (x)
y(x) 1
∂ j (x) j
j
• Marketing (communication) and social value
• Computer science: emphasis on interaction with a user
– EE - emphasis on mathematical analysis
EE392m - Spring 2005 Control Engineering 9-29
Gorinevsky
Local Modeling Based on Data
Heat Loadsds
• Data mining in the loop
• Honeywell Prague product
Multidimensional
Data Cube
Relational
Database
Heat
demand
Forecastedecasted
Time
variableariable
Query point Outdoor of day
( What if ? ) temperature
Explanatory
variables
EE392m - Spring 2005 Control Engineering 9-30
Gorinevsky
System platform for control computing
• Workstations
– advanced process control
– enterprise optimizers
– computing servers
(QoS/admission control)
• Specialized controllers:
– PLC, DCS, motion controllers,
hybrid controllers
EE392m - Spring 2005 Control Engineering 9-31
Gorinevsky
System platform for control computing
MPC555
• Embedded: P + software
• DSP
• FPGA
• ASIC / SoC
EE392m - Spring 2005 Control Engineering 9-32
Gorinevsky
Embedded
processor
range
EE392m - Spring 2005 Control Engineering 9-33
Gorinevsky
System platform, cont’d
• Analog/mixed electric circuits
– power controllers
– RF circuits
• Analog/mixed other
– Gbs optical networks
EM =
Electr-opt
Modulator
AGC = Auto Gain Control
EE392m - Spring 2005 Control Engineering 9-34
Gorinevsky
Control Software
• Algorithms
• Validation and Verification
EE392m - Spring 2005 Control Engineering 9-35
Gorinevsky
System development cycle
Ford Motor Company
EE392m - Spring 2005 Control Engineering 9-36
Gorinevsky
Control
application
software
development
cycle
• Matlab+toolboxes
• Simulink
• Stateflow
• Real-time Workshop
EE392m - Spring 2005 Control Engineering 9-37
Gorinevsky
Real-time Embedded Software
• Mission critical
• RT-OS with
hard real-time
guarantees
• C-code for each
thread generated
from Simulink
• Primus Epic,
B787, A380
EE392m - Spring 2005 Control Engineering 9-38
Gorinevsky
Hardware-in-the-loop simulation
• Aerospace
• Process control
• Automotive
EE392m - Spring 2005 Control Engineering 9-39
Gorinevsky
System development cycle
EE392m - Spring 2005 Control Engineering 9-40
Gorinevsky
Cadence
