Visualisation Facilities of the Graphical CSP tool TERRA Zhou Lu - - PowerPoint PPT Presentation
Visualisation Facilities of the Graphical CSP tool TERRA Zhou Lu and Jan Broenink Robotics and Mechatronics, University of Twente August 21, 2016 Way of Working Legend Electronics design Software design Controller design Mechanics design
3b Plant model (RT sim)
Real plant
4 Target execution platform Target execution platform I/O I/O stub Legend
Plant dynamics
1
Time Triggered & Discrete Event software
3a
Plant dynamics
2 Control laws (Loop control,CT) (G)UI, Supervisory, Sequence, Safety Software design Controller design Mechanics design Electronics design
Plant dynamics & 3D animation ECS software architecture a) b) c) d) e) 20-sim (co) simulation Simulation time Real-time TERRA
Controller Model Plant Dynamics 20-sim TERRA TERRA CSP TERRA CSP TERRA CSP LUNA Lib Execution Enviroment
Visualization
LoggerServer Animation Plug-ins SimCon Plug-ins LogInterpretor Plug-ins
Edit Models (Co) Simulation
Platform Specific Executable
Step1 Step2
FMI Wrapper FMU
Step3
Controller Model Plant Dynamics 20-sim TERRA TERRA CSP TERRA CSP TERRA CSP LUNA Lib Execution Enviroment
Visualization
LoggerServer Animation Plug-ins SimCon Plug-ins LogInterpretor Plug-ins
Edit Models (Co) Simulation
Platform Specific Executable
Step1 Step2
FMI Wrapper FMU
Step3
Controller Model Plant Dynamics 20-sim TERRA TERRA CSP TERRA CSP TERRA CSP LUNA Lib Execution Enviroment
Visualization
LoggerServer Animation Plug-ins SimCon Plug-ins LogInterpretor Plug-ins
Edit Models (Co) Simulation
Platform Specific Executable
Step1 Step2
FMI Wrapper FMU
Step3
◮ Execute models ◮ Logged data will be stored as CSV files ◮ Mapping model elements ◮ Parsing logged data ◮ Publishing states to a graphical view
Execution Enviroment LUNA Executable logger log receiver Development Platform TERRA T
Console
TERRA TERRA CSP
View
TERRA CSP
T arget Platform
Tree Structure State Changes Signal Values
Animation
Mapping Parsing Publishing