嵌入式系统建模与仿真环境的研究及应用
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摘要
面对嵌入式系统领域日益激烈的市场竞争，设计周期长短成为产品能否占领市场的一个重要因素，因而提高系统的设计层次以缩短设计周期至关重要。目前嵌入式系统一般采用系统级设计方法，这样可以科学地划分系统的软件与硬件，避免设计的原理性错误，实现组件的可重用。系统级设计的关键是如何模拟系统的各个方面，以反应系统的真实行为。由于嵌入式系统的行为具有异构性，目前还没有一个平台能很好地实现对此类系统的建模与仿真，因此研究嵌入式异构系统的系统级设计方法学，对于嵌入式系统的系统级设计具有积极的理论指导意义。
本文主要研究嵌入式计算系统的系统级设计。首先研究了Ptolemy Ⅱ的系统级设计方法学；然后针对Ptolemy Ⅱ不能提供完备的角色库来满足所有系统需求的问题，研究了角色的软件结构，归纳出一套角色扩展的方法，并基于此方法，设计了一组MPEGAudio Layer Ⅲ的解码角色，实现对MP3文件的播放，从而验证此角色设计方法切实可行；随后针对Ptolemy Ⅱ对嵌入式异构系统具有较强的系统级设计能力，利用Ptolemy Ⅱ运用不同的PID算法对异构的电机调速控制器进行优化设计；最后在自主开发的DSP平台上采用增量PID算法和积分分离的PID算法分别实现电机调速控制器。测试结果表明积分分离的PID算法可明显地减少超调量，缩短电机的调速时间，此结果与Ptolemy Ⅱ的仿真结果基本一致，从而验证了Ptolemy Ⅱ对电机调速控制器建模仿真的正确性，表明Ptolemy Ⅱ能很好地指导嵌入式异构系统进行系统级设计。
With the drastic market competition, it is a key factor in the embedded system's design to shorten design cycle. At present, embedded systems usually adopt system-level design methodology, which can easily partition hardware and software of systems, avoid design principle's error and realize components' reuse. However, the key problem of system-level design is to simulate all aspects of the system for reflecting "real behavior" of the system. Unfortunately, for the heterogeneous characteristic of embedded systems, it is rare that a single platform can do well in designing these systems. Therefore, it is significant to study the system-level design methodology, which will lay solid basis of embedded system design.
The paper mainly discusses the system-level design of embedded computing systems. The paper is organized as follows: Firstly, we study the actor-oriented design methodology in Ptolemy II. Secondly, pre-defined actor library in Ptolemy II can't prove sufficient for all systems, so the paper introduces the software structure of the actor and summarizes an effective means to add the actor. A group of MP3 decoded actors are designed by using the above means, therefore MP3 file can be decoded and played in Ptolemy II, which verifies that the actor designing means is feasible. Thirdly, a motor speed-adjusting controller using different digital PID is modeled and simulated in Ptolemy II. Finally, the paper implements the motor speed-adjusting controller using integrator-disparted PID algorithm and increment PID algorithm on a DSP hardware platform. The test results show that the integrator-disparted PID algorithm can reduce the excessive turning-up and shorten motor speed-adjusting's time significantly. The real pe
rformance results are approximately close to the simulation results in Ptolemy, which proves that Ptolemy can direct the design of the motor speed-adjusting controller correctly and feasibly.
本文主要研究嵌入式计算系统的系统级设计。首先研究了Ptolemy Ⅱ的系统级设计方法学；然后针对Ptolemy Ⅱ不能提供完备的角色库来满足所有系统需求的问题，研究了角色的软件结构，归纳出一套角色扩展的方法，并基于此方法，设计了一组MPEGAudio Layer Ⅲ的解码角色，实现对MP3文件的播放，从而验证此角色设计方法切实可行；随后针对Ptolemy Ⅱ对嵌入式异构系统具有较强的系统级设计能力，利用Ptolemy Ⅱ运用不同的PID算法对异构的电机调速控制器进行优化设计；最后在自主开发的DSP平台上采用增量PID算法和积分分离的PID算法分别实现电机调速控制器。测试结果表明积分分离的PID算法可明显地减少超调量，缩短电机的调速时间，此结果与Ptolemy Ⅱ的仿真结果基本一致，从而验证了Ptolemy Ⅱ对电机调速控制器建模仿真的正确性，表明Ptolemy Ⅱ能很好地指导嵌入式异构系统进行系统级设计。
With the drastic market competition, it is a key factor in the embedded system's design to shorten design cycle. At present, embedded systems usually adopt system-level design methodology, which can easily partition hardware and software of systems, avoid design principle's error and realize components' reuse. However, the key problem of system-level design is to simulate all aspects of the system for reflecting "real behavior" of the system. Unfortunately, for the heterogeneous characteristic of embedded systems, it is rare that a single platform can do well in designing these systems. Therefore, it is significant to study the system-level design methodology, which will lay solid basis of embedded system design.
The paper mainly discusses the system-level design of embedded computing systems. The paper is organized as follows: Firstly, we study the actor-oriented design methodology in Ptolemy II. Secondly, pre-defined actor library in Ptolemy II can't prove sufficient for all systems, so the paper introduces the software structure of the actor and summarizes an effective means to add the actor. A group of MP3 decoded actors are designed by using the above means, therefore MP3 file can be decoded and played in Ptolemy II, which verifies that the actor designing means is feasible. Thirdly, a motor speed-adjusting controller using different digital PID is modeled and simulated in Ptolemy II. Finally, the paper implements the motor speed-adjusting controller using integrator-disparted PID algorithm and increment PID algorithm on a DSP hardware platform. The test results show that the integrator-disparted PID algorithm can reduce the excessive turning-up and shorten motor speed-adjusting's time significantly. The real pe
rformance results are approximately close to the simulation results in Ptolemy, which proves that Ptolemy can direct the design of the motor speed-adjusting controller correctly and feasibly.
引文
[1] 王田苗．嵌入式系统设计与实际开发．第一版．北京：清华大学出版社，2002，3-4
[2] Edward A. Lee. Embedded Software. http://Ptolemy.eecs.berkeley.edu/papers/01/HAND/, 2001-11-01
[3] Xianjun L, Jie L, Johan E. Heterogeneous Modeling and Design of Control Systems. IEEE Control Systems, 2001,35(5): 532-533
[4] Arnold Berger．嵌入式系统设计．吕骏．第一版．北京：电子工业出版社，2002，1-15
[5] Johan Eker, Jrn W. Janneck, Edward A. Lee, et al. Taming Heterogeneity-the Ptolemy Approach.http://Ptolemy.eecs.berkeley.edu/publications/papers/03/TamingHeterogeneity, 2003-01
[6] Doboli, R. Vemuri. The definition of a VHDL-AMS subset for behavioral synthesis of analog systems. In Proc. of IEEE/VIUF BMAS, 1998
[7] 刘永春．从Matlab/Simulink模型到代码实现．第一版．北京：清华大学出版社，2002，143-180
[8] M. Richard, O. Roux. An attempt to confront asynchronous reality to synchronous modelization in the Esterel language. Formal echniques in Real-Time and Fault-Tolerant Systems, LNCS 571, 1992. 429-450
[9] Jie Liu, Johan Eker, Xiaojun Liu, et al. Actor-Oriented Control System Design. http://Ptolemy.eecs.berkeley.edu/publications/papers/02/actorOriented/, 2002-03
[10] Ptolemy Homepage.http://ptolemy.eecs.berkeley.edu/,2004-02
[11] Edward A. Lee. Overview of the Ptolemy Project. http://ptolemy. eecs. berkeley.edu/publications/papers/03/overview/, 2003-07-02
[12] Hylands, E. A. Lee, J. Liu, et al. Heterogeneous Concurrent Modeling and Design in Java (Volume 1: Introduction to Ptolemy Ⅱ). http://Ptolemy.eecs, berkeley.edu/publications/papers/03/ptⅡDesignIntro, 2003-07-16
[13] Stephen Neuendorffer. Automatic Specialization of Actor-Oriented Models in Ptolemy Ⅱ. http://Ptolemy.eecs.berkeley.edu/papers/02/actorSpecialization/, 2002-12-25
[14] Jie Liu, Edward A. Lee. A Component-Based Approach to Modeling and Simulating Mixed-Signal and Hybrid Systems. ACM Transactions on Modeling and Computer Simulation, 2002, Vol 12, No. 4:343-368
[15] Hylands, E. A. Lee, J. Liu,et al. Heterogeneous Concurrent Modeling and Design in Java (Volume 3: Ptolemy Ⅱ Domains). http://ptolemy.eecs, berkeley.edu/papers/03/ptⅡDesignDomains/,2003-07-16
[16] Edward A. Lee, Stephen Neuendorffer, Michael J. Wirthlin. Actor-Oriented Design of Embedded Hardware and Software Systems. Journal of Circuits, Systems and Computers, 2003,Vol. 12, No. 3: 231-260,
[17] Edward A. Lee, Yuhong Xiong. System-Level Types for Component-Based Design. http://ptolemy.eecs.berkeley.edu/publications/papers/01/systemLevelType/, 2001-10
[18] L. de Alfaro, T. A. Henzinger. Interface Automata. http://www-cad.eecs.berkeley.edu/～tah/Publications/interface_automata.pdf, 2001.
[19] Luca de Alfaro, Thomas A.Henzinger. Interface Theories for Component-based Design. http://www-cad.eecs.berkeley.edu/～tah/Publications/interface_theories_for_component-b.ased_design.pdf, 2001
[20] Hylands, E. A. Lee, J. Liu,et al. Heterogeneous Concurrent Modeling and Design in Java (Volume 2: Ptolemy Ⅱ Software Architecture). http://ptolemy.eecs.berkeley.edu/papers/ 03/ptⅡDesignSoftware/,2003-07-16
[21] Christopher Hylands, Edward A. Lee, Jie Liu, et al. Heterogeneous Concurrent Modeling and Design in Java. http://ptolemy.eecs.berkeley.edu/papers/02/ptⅡDesignIntro/, 2002-08-05
[22] Jie Li. Add an actor to Ptolemy Ⅱ. hap://ptolemy, eecs. berkely.edu/ptolemyⅡ/ptⅡ3.0/ptⅡ3.0.2/doe/coding/addinganactor.htm,2002-07-05
[23] David Salomon．数据压强原理与应用．吴乐南．第一版．北京：电子工业出版社，2003，490-511
[24] Krister Lagerstrom. Design and Implementation of an MPEG-1 Layer Ⅲ Audio Decoder. http://www.kmlager.com/mp3/Lagerstrom_ MP3_Thesis.pdf,2001-05
[25] 赖鸿志．MPEG-1 LAYER 3音讯译码器于DSP芯片之实时软件实现：[国立交通大学硕士论文]．台湾：国立交通大学电机与控制工程研究所，2001，32-38
[26] Bjrn Wesén. A DSP-based decompressor unit for high-fidelity MPEG-Audio over TCP/IP networks, http://www.sparta.lu.se/～bjorn/whitney/Implementation.htm, 1997
[27] Patrick Brown. Modeling of an MPEG Layer-3 Encoder and Decoder in Ptolemy. http://www.ece.utexas.edu/～bevans/courses/ee382c/projects/spring00/brown/LitSurveyReport.pdf, 2000-05-10
[28] ExperTune Inc. What is PID?[EB/OL]. http://www.expertune.com/tutor.html.2003-09
[29] Wayne Wolf．嵌入式计算系统设计设计原理．张玉芳．第一版，北京：机械工业出版社，2002，6-21
[30] 赵文峰．控制系统设计与仿真．第一版．西安：西安电子科技大学出版社，2002，60-64
[31] Jie L, Edward A L. Timed Multitasking for Real-Time Embedded Software. IEEE Control Systems, 2003,23(1): 67-68
[32] 刘金琨．先进PID控制及MATLAB仿真．第一版．北京：电子工业出版社，2002，1-20
[33] TI公司. The TMS320C54X DSP HPI and PC Parallel Port Interface. http://www-s.ti.com/sc/psheets/spra 151/spra 151.pdf, 1997-03
[34] 郑红，吴冠．TMS320C54X DSP应用系统设计．第一版．北京：北京航空航天大学出版社，2002，8-129
[35] TI公司.TMS320C54X DSP Reference Set Volume 1:CPU and Peripherals. http://www-s.ti.com/sc/psheets/spru 179c/spru 179c.pdf, 2001-03
[36] Jean J．Labrosse．μC／OS-Ⅱ—源码公开的实时嵌入式操作系统．邵贝贝．第一版．北京：中国电力出版社，2001，29-186
[37] Jean J．Labrosse．嵌入式实时操作系统μC／OS-Ⅱ．邵贝贝．第二版．北京：北京航空航天大学出版社，2003，283-398
[38] 张利，桑伟，张立．μC／OS-Ⅱ在凌阳单片机SPCE061A上的移植．单片机与嵌入式系统应用，2003，8：35-37
[39] 清源科技．TMS320C54X DSP硬件开发教程．第一版．北京：机械工业出版社，2003，131-161
[40] Dhanjay．V．Gadre．并行端口编程．韩永彬，袁潮．第一版．北京：中国电力出版社，2000，22-70
[41] 刘益成．TMS320C54X DSP应用程序设计与开发．第一版．北京：北京航空航天大学出版社．2002，24-352
[42] 闻亭公司．EPP开发系统使用说明书．北京：闻亭公司技术支持部，2002，1-22
[2] Edward A. Lee. Embedded Software. http://Ptolemy.eecs.berkeley.edu/papers/01/HAND/, 2001-11-01
[3] Xianjun L, Jie L, Johan E. Heterogeneous Modeling and Design of Control Systems. IEEE Control Systems, 2001,35(5): 532-533
[4] Arnold Berger．嵌入式系统设计．吕骏．第一版．北京：电子工业出版社，2002，1-15
[5] Johan Eker, Jrn W. Janneck, Edward A. Lee, et al. Taming Heterogeneity-the Ptolemy Approach.http://Ptolemy.eecs.berkeley.edu/publications/papers/03/TamingHeterogeneity, 2003-01
[6] Doboli, R. Vemuri. The definition of a VHDL-AMS subset for behavioral synthesis of analog systems. In Proc. of IEEE/VIUF BMAS, 1998
[7] 刘永春．从Matlab/Simulink模型到代码实现．第一版．北京：清华大学出版社，2002，143-180
[8] M. Richard, O. Roux. An attempt to confront asynchronous reality to synchronous modelization in the Esterel language. Formal echniques in Real-Time and Fault-Tolerant Systems, LNCS 571, 1992. 429-450
[9] Jie Liu, Johan Eker, Xiaojun Liu, et al. Actor-Oriented Control System Design. http://Ptolemy.eecs.berkeley.edu/publications/papers/02/actorOriented/, 2002-03
[10] Ptolemy Homepage.http://ptolemy.eecs.berkeley.edu/,2004-02
[11] Edward A. Lee. Overview of the Ptolemy Project. http://ptolemy. eecs. berkeley.edu/publications/papers/03/overview/, 2003-07-02
[12] Hylands, E. A. Lee, J. Liu, et al. Heterogeneous Concurrent Modeling and Design in Java (Volume 1: Introduction to Ptolemy Ⅱ). http://Ptolemy.eecs, berkeley.edu/publications/papers/03/ptⅡDesignIntro, 2003-07-16
[13] Stephen Neuendorffer. Automatic Specialization of Actor-Oriented Models in Ptolemy Ⅱ. http://Ptolemy.eecs.berkeley.edu/papers/02/actorSpecialization/, 2002-12-25
[14] Jie Liu, Edward A. Lee. A Component-Based Approach to Modeling and Simulating Mixed-Signal and Hybrid Systems. ACM Transactions on Modeling and Computer Simulation, 2002, Vol 12, No. 4:343-368
[15] Hylands, E. A. Lee, J. Liu,et al. Heterogeneous Concurrent Modeling and Design in Java (Volume 3: Ptolemy Ⅱ Domains). http://ptolemy.eecs, berkeley.edu/papers/03/ptⅡDesignDomains/,2003-07-16
[16] Edward A. Lee, Stephen Neuendorffer, Michael J. Wirthlin. Actor-Oriented Design of Embedded Hardware and Software Systems. Journal of Circuits, Systems and Computers, 2003,Vol. 12, No. 3: 231-260,
[17] Edward A. Lee, Yuhong Xiong. System-Level Types for Component-Based Design. http://ptolemy.eecs.berkeley.edu/publications/papers/01/systemLevelType/, 2001-10
[18] L. de Alfaro, T. A. Henzinger. Interface Automata. http://www-cad.eecs.berkeley.edu/～tah/Publications/interface_automata.pdf, 2001.
[19] Luca de Alfaro, Thomas A.Henzinger. Interface Theories for Component-based Design. http://www-cad.eecs.berkeley.edu/～tah/Publications/interface_theories_for_component-b.ased_design.pdf, 2001
[20] Hylands, E. A. Lee, J. Liu,et al. Heterogeneous Concurrent Modeling and Design in Java (Volume 2: Ptolemy Ⅱ Software Architecture). http://ptolemy.eecs.berkeley.edu/papers/ 03/ptⅡDesignSoftware/,2003-07-16
[21] Christopher Hylands, Edward A. Lee, Jie Liu, et al. Heterogeneous Concurrent Modeling and Design in Java. http://ptolemy.eecs.berkeley.edu/papers/02/ptⅡDesignIntro/, 2002-08-05
[22] Jie Li. Add an actor to Ptolemy Ⅱ. hap://ptolemy, eecs. berkely.edu/ptolemyⅡ/ptⅡ3.0/ptⅡ3.0.2/doe/coding/addinganactor.htm,2002-07-05
[23] David Salomon．数据压强原理与应用．吴乐南．第一版．北京：电子工业出版社，2003，490-511
[24] Krister Lagerstrom. Design and Implementation of an MPEG-1 Layer Ⅲ Audio Decoder. http://www.kmlager.com/mp3/Lagerstrom_ MP3_Thesis.pdf,2001-05
[25] 赖鸿志．MPEG-1 LAYER 3音讯译码器于DSP芯片之实时软件实现：[国立交通大学硕士论文]．台湾：国立交通大学电机与控制工程研究所，2001，32-38
[26] Bjrn Wesén. A DSP-based decompressor unit for high-fidelity MPEG-Audio over TCP/IP networks, http://www.sparta.lu.se/～bjorn/whitney/Implementation.htm, 1997
[27] Patrick Brown. Modeling of an MPEG Layer-3 Encoder and Decoder in Ptolemy. http://www.ece.utexas.edu/～bevans/courses/ee382c/projects/spring00/brown/LitSurveyReport.pdf, 2000-05-10
[28] ExperTune Inc. What is PID?[EB/OL]. http://www.expertune.com/tutor.html.2003-09
[29] Wayne Wolf．嵌入式计算系统设计设计原理．张玉芳．第一版，北京：机械工业出版社，2002，6-21
[30] 赵文峰．控制系统设计与仿真．第一版．西安：西安电子科技大学出版社，2002，60-64
[31] Jie L, Edward A L. Timed Multitasking for Real-Time Embedded Software. IEEE Control Systems, 2003,23(1): 67-68
[32] 刘金琨．先进PID控制及MATLAB仿真．第一版．北京：电子工业出版社，2002，1-20
[33] TI公司. The TMS320C54X DSP HPI and PC Parallel Port Interface. http://www-s.ti.com/sc/psheets/spra 151/spra 151.pdf, 1997-03
[34] 郑红，吴冠．TMS320C54X DSP应用系统设计．第一版．北京：北京航空航天大学出版社，2002，8-129
[35] TI公司.TMS320C54X DSP Reference Set Volume 1:CPU and Peripherals. http://www-s.ti.com/sc/psheets/spru 179c/spru 179c.pdf, 2001-03
[36] Jean J．Labrosse．μC／OS-Ⅱ—源码公开的实时嵌入式操作系统．邵贝贝．第一版．北京：中国电力出版社，2001，29-186
[37] Jean J．Labrosse．嵌入式实时操作系统μC／OS-Ⅱ．邵贝贝．第二版．北京：北京航空航天大学出版社，2003，283-398
[38] 张利，桑伟，张立．μC／OS-Ⅱ在凌阳单片机SPCE061A上的移植．单片机与嵌入式系统应用，2003，8：35-37
[39] 清源科技．TMS320C54X DSP硬件开发教程．第一版．北京：机械工业出版社，2003，131-161
[40] Dhanjay．V．Gadre．并行端口编程．韩永彬，袁潮．第一版．北京：中国电力出版社，2000，22-70
[41] 刘益成．TMS320C54X DSP应用程序设计与开发．第一版．北京：北京航空航天大学出版社．2002，24-352
[42] 闻亭公司．EPP开发系统使用说明书．北京：闻亭公司技术支持部，2002，1-22