Model-based Design of Diagnostics Applications Using GRAFCET ...
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Model-based Design of Diagnostics Applications Using GRAFCET ...
Mar 23, 2011 ... Using GRAFCET (DIN EN 60848) ... visualisation with GRAFCET. □ .... synthesis
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Excellence in Automotive Computing. Informationstechnik München
Model-based Design of Diagnostics Applications Using GRAFCET (DIN EN 60848)
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23 March 2011, 2:45pm Dr Mario Schweigler, IFS Informationstechnik Munich 8th International CTI Forum “Automotive Diagnostic Systems” 23 March 2011 IFS Informationstechnik GmbH Trausnitzstraße 8 81671 Munich Headquarters: Munich Commercial Register: Amtsgericht Munich HRB 126547 CEO: Dr.-Ing. Markus A. Stulle Dipl.-Ing. Thomas Frey
Outline
challenges facing modern software
discrete-event dynamic models
mathematical definition
visualisation with GRAFCET
description form for DEDS models
vehicle diagnostics as a control plant
basic idea
synthesis of complex workflows
tool-assisted verification
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Challenges Facing Modern Software
reduced time for development
shorter product and development cycles
acceleration crisis
growing complexity
concurrency
higher demand for correctness
proof of correctness
approach: synthesis of complex workflows by combining formally proven modules
adopting formal methods from the theory of discrete-event dynamic systems
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Terms
system: a group of entities in relation with each other
static
involving time: dynamic
model: abstraction of a system
aspects: time evolution and possible values and states
continuous
discrete
figures taken from “Modelling and Control of Discrete-event Dynamic Systems”, B. Hrúz und M.C. Zhou
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Discrete-event Dynamic Models – Classification
discrete-event dynamic system (DEDS)
discrete
dynamic
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state evolution triggered by asynchronous events
figures taken from “Modelling and Control of Discrete-event Dynamic Systems”, B. Hrúz und M.C. Zhou
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Discrete-event Dynamic Models – General Mathematical Definition
description of a system with discrete states
transitions between states triggered by discrete events
Q: set of states with particular values for the variables from Π
Σ: set of transitions leading from one state to another if a defined condition is met
Ө: initial state
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Discrete-event Dynamic Models – Further Definitions
situation
reachability graph
set of coexistent states in a concurrent system (marking of a Petri net)
state machine with reachable situations as nodes and transitions as directed edges
error
Martin Weingardt: “Given an alternative, an error is the variant which is classified by a subject – in relation to a correlating context and a specific interest – to be so unfavourable as to appear undesirable.” in this context: an undesired situation
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Discrete-event Dynamic Models – Controller and Plant
controller
plant
event sources
sensors
actuators
system boundaries
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basis: DEDS
environment as part of the plant
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Discrete-event Dynamic Models – Example: Controller for a Coffee Vendor
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GRAFCET – Introduction (I)
graphical design language for describing the behaviour of controlled systems based on discrete-event dynamic models
GRAphe Fonctionnel de Commande Etapes/Transitions (en. control function graph with steps and transitions)
standardised in DIN EN 60848
successor of DIN 40719 part 6 “function plan”
standard valid throughout Europe
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GRAFCET – Introduction (II)
workflow consisting of alternating steps and transitions
individual steps can be associated with actions
branching of workflows possible
alternative paths
parallel paths ( concurrent situations)
structuring possible
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GRAFCET – Visualisation of Elements (I)
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separation of structure and effect
structure
effect
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GRAFCET – Visualisation of Elements (II)
structure:
steps, initial step
corresponds to set Q and Ө
transitions and conditions
corresponds to set Σ
effect:
steps can be associated with actions
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GRAFCET – Visualisation of Workflow Structures (I)
chain
every step is followed by a transition (except the final step) every transition is followed by a step
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GRAFCET – Visualisation of Workflow Structures (II)
alternative branching
a step is followed by two or more mutually exclusive transitions partial workflows may be of arbitrary length (empty partial workflows are ‘skipped’)
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GRAFCET – Visualisation of Workflow Structures (III)
parallel branching
a transition activates several partial workflows
partial workflows are processed independently
synchronised convergence via shared transition
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GRAFCET – Visualisation of Workflow Structures (IV)
jumps and loopback
jumps allow for clearer visualisation
loopback allows for cyclic workflows
2
3
1
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GRAFCET – Structuring (I)
macro step
visual structuring from coarse to fine
macro step visualises a partial GRAFCET
macro step is left when partial GRAFCET has been processed
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GRAFCET – Structuring (II)
macro step: vehicle diagnostics example
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GRAFCET – Structuring (III)
inclusive step
hierarchical structuring
inclusive step contains a partial GRAFCET
partial GRAFCET is active until inclusive step is exited (controllable from outside) enables exception handling without ‘bloated’ code
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GRAFCET – Structuring (IV)
inclusive step: vehicle diagnostics example
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Canonical Description Form (KBF) (I)
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XML document
contains description of DEDS model
allows expression of concurrency
modelling of the following elements:
inputs: sensors events
outputs: actuators actions
states (incl. macro steps and inclusive steps)
conditions, transitions
tool enables GRAFCET visualisation of KBF
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Canonical Description Form (KBF) (II)
combination of sensors to events combination of actuators to actions
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Canonical Description Form (KBF) (III)
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Vehicle Diagnostics As a Control Plant – Basic Idea
idea: transferring processes used in automation technology to vehicle diagnostics workflows
synthesis of error-free programs from modules with a well-known behaviour
tool for analysis, verification and visualisation of discrete-event dynamic models
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Vehicle Diagnostics As a Control Plant – Elements of the Control Plant
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event sources
vehicle
user
sensors
data read from vehicle
user inputs
actuators
telegrams sent to vehicle
information displayed to user
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Vehicle Diagnostics As a Control Plant – Requirements Document
requirements document specifies the reachability graph of the diagnostics use case
definition of error:
situation reachable which is explicitly prohibited by requirements document situation not reachable which is explicitly demanded by requirements document
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Vehicle Diagnostics As a Control Plant – Synthesis of Complex Workflows (I)
prerequisite: the intended workflow can be combined from modules with a well-known reachability graph examples:
model series identification
read-out and interpretation of diagnostic trouble codes
recording of symptoms
combination of these partial workflows to a full diagnostics workflow
prevention of errors by utilising formal methods
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calculation of the effective reachability graph
tool-assisted comparison with the reachability graph specified in requirements document
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Vehicle Diagnostics As a Control Plant – Synthesis of Complex Workflows (II)
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Vehicle Diagnostics As a Control Plant – Tool-assisted Verification (I)
example of a diagnostics module: model series identification
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Vehicle Diagnostics As a Control Plant – Tool-assisted Verification (II)
