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WO2001001207A1 - Procede et appareil permettant de commander hierarchiquement des systemes a fonctionnement continu - Google Patents

Procede et appareil permettant de commander hierarchiquement des systemes a fonctionnement continu Download PDF

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Publication number
WO2001001207A1
WO2001001207A1 PCT/US2000/018179 US0018179W WO0101207A1 WO 2001001207 A1 WO2001001207 A1 WO 2001001207A1 US 0018179 W US0018179 W US 0018179W WO 0101207 A1 WO0101207 A1 WO 0101207A1
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state
elements
states
physical
node
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PCT/US2000/018179
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English (en)
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WO2001001207A9 (fr
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Bart G. Scholte Van Mast
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Etec Systems, Inc.
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Priority to AU59070/00A priority Critical patent/AU5907000A/en
Publication of WO2001001207A1 publication Critical patent/WO2001001207A1/fr
Publication of WO2001001207A9 publication Critical patent/WO2001001207A9/fr

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B17/00—Systems involving the use of models or simulators of said systems
    • G05B17/02—Systems involving the use of models or simulators of said systems electric

Definitions

  • BACKGROUND Continuously operating systems are common; examples are chemical plants, portions of chemical plants, security systems, automated aircraft, semiconductor wafer processing systems, building HVAC systems, and material handling systems. There are many other examples in both manufacturing industries and other fields.
  • Such systems include a number of sensors which sense physical changes, for instance temperature, pressure, speed, flow rates, position, and actuators which control such parameters.
  • the sensors and actuators are coupled to a central controller which typically executes some sort of software.
  • the controller may or may not be a general purpose computer.
  • the controller evaluates the sensor data, adjusts the actuators, and typically provides some sort of a display to a human operator indicating a status of the system.
  • the human operator then may or may not intervene in operation of the system; in many cases the system operates automatically under control of the controller. In these cases the controller is controlling functions of the system.
  • the computer software includes a number of elements, each being a computer software object representing a part or plurality of parts of the physical system being controlled and/or simulated.
  • the elements are arranged in a hierarchy, each element being represented by one of a plurality of states.
  • a state of the system is an aggregation of the element states.
  • FIG. 1 shows a system in accordance with the invention.
  • FIG. 1 shows graphically analog state definitions.
  • Figure 2b shows graphically an analog state with a "dead band.”
  • Figure 2c shows continuous state transitions.
  • Figure 3 shows a flow chart for the main application process.
  • Figure 5b shows a flow chart for structural state determination.
  • Figure 6 shows a flow chart for the structural updating and state calculation.
  • Figure 8 shows a flow chart for cross link creation.
  • Figure 10 shows a tank for holding a liquid in a first example.
  • Figure 12 shows a hierarchy for the Figure 11 system.
  • Figure 14 shows a timing diagram for a switch of Figure 11.
  • the computer implemented method and apparatus disclosed herein are for the control and simulation of automated (typically continuously operating) physical systems.
  • the present method and apparatus are intended to control, monitor, and simulate complicated physical systems without the use of elaborate dedicated interface or controller circuitry.
  • the method and apparatus provide a user interface that adapts closely to the particular physical system.
  • a physical (real) system is treated as a combination of interacting physical parts (components). Each part has a software entity counterpart called an element. Each element is expressed (coded) as an object which is the actual software source code used to create an element; hence one object can produce multiple elements. For instance, there is one object which is a generalized binary output, e.g., a real valve in a physical system has a corresponding software valve element which is a particularized version of the output object.
  • the elements are combined (conglomerated) into a hierarchical structure. The function of an element depends on the current state of the element.
  • the method is to assign a state to an element from the combined states of a collection of elements. The method allows fast and reliable state determination.
  • Each element in the system has an associated graphic (graphical user interface) representation.
  • These graphics can be designed or selected to correspond to the real hardware or schematic diagrams of the physical system.
  • the graphic representation follows the hierarchical structure of the physical system, displaying all the available information on each hierarchical level. This allows the user to browse through the hierarchy.
  • Figure 1 shows graphically the physical portion of the system 1, the software and computer portion 2 which is executed on a host computer, and the human user 3.
  • the physical portion includes the physical system la, the sensors and actuator 4, and the I/O (input/output) circuitry 5a, ..., 5e.
  • the software and computer portion 2 includes the device drivers 6a, etc., the interface database 7 and its associated clock (timer) 7b, the control structure 8a which accesses associated storage (e.g., hard disk) 8b, and the input devices (e.g., mouse, keyboard) 9a, and output devices (e.g., computer screen) 9b with which user 3 interacts.
  • the input devices e.g., mouse, keyboard
  • output devices e.g., computer screen
  • the software and computer portion 2 is executed on multiple host computers linked into a network rather than a single computer. Even execution of the control structure 8a may be distributed over several networked host computers. The user 3 access may be by a remote computer through a network.
  • Figure 1 will be better understood from the following disclosure. Control Logic
  • control structure 8a The software of control structure 8a is organized in a hierarchy of objects of different types.
  • the fundamental object types are used to create the control structure elements where the same coded objects are used multiple times to represent multiple elements. With these elements, the structural functionality of the physical system la is described.
  • the following object types are present in the control structure 8a:
  • the entire control structure is based on a few basic element types. Each object in the control structure is derived from these basic types.
  • Element - Each item defined in this portion of this disclosure is referred to as an element.
  • An element is any kind of software object that is defined in the system. Elements have different forms and functions depending on their definition. Elements can be stored and retrieved in storage 8b. Elements have a graphical representation on the output device (screen) 9b.
  • List All the elements are arranged in lists of multiple elements. Lists can be displayed, modified, stored and restored. Lists are dynamic structures without predefined length, format, or dimension.
  • Graphical element - A graphical element holds the coordinates and the form of any graphic representation. These representations are points, lines, boxes, circles, text, icons, etc. Graphical elements are displayed on the screen with respect to a window as described below.
  • Icon library The graphical library is a list of icons. In this list, each icon is defined only once. Since in the list that makes an icon, references to icons within the icon library are allowed, the graphic library is an internally linked, annotated structure.
  • Window - A set of translation vectors, scale factors and other image transformations.
  • Child node - A child node is a node seen looking down the hierarchy.
  • Cross links are also used by the function compiler as defined hereafter. Cross links are made as needed. Established links can be maintained after use. Guest node - When a node is linked to other nodes by a cross link, this node is called the guest node of the element to which it is linked.
  • Dynamic node - A dynamic node is a shadownode without a pre-defined destination of its cross link. If a cross link is established, the node acts as a normal shadownode. Establishing the cross link for a dynamic node is initiated by sending it a predefined command that carries the identification label of the desired guest node. It will take the identification label and start the normal cross linking procedure as defined hereafter with this label as defined for the shadow node. This implicates that if the node has an established cross link, the new link will not be formed. Terminating the cross link is done by predefined command.
  • Access Node - An access node is a dynamic node that has a connection to an interface device. driver 6a, etc., either via the interface database 7 or directly.
  • Hierarchical nodes define the static framework of the control structure, and active elements are used to cause action in the control structure. They make direct status-related communication between hierarchically linked nodes and to make nodes perform certain tasks. They are also used to create a command-action sequence possible of non-hierarchically linked nodes.
  • State List All the active elements are arranged in lists of multiple active elements. Every node carries a state list. These lists are available to the nodes to select relevant information.
  • States - States are active elements that define the current situation and function of a node. Every state has at least one state code.
  • the state code is a numerical representation of the state and defines in what state the node will be in a particular situation. Each state code should only be addressed once. Multiple states with identical codes lead to unpredictable state selections.
  • Each state has one update code. The update code is therefore dependent on the state of the code. The update code is used to transmit the present state of this node to the hierarchical level above. With these two parameters the actual situation of the node is determined. For endnodes, the determination function of the state is device-specific. For nodes (or subsystems) the state is in one embodiment calculated by the expression: m
  • each state can have more than one state code.
  • the state is appointed when the state calculation leads to a state code in this list.
  • Another way to obtain an OR relation is to define multiple states with the same update code. The OR relation is then established one level higher in the hierarchy.
  • Passive state If a state is only used to transmit information inside the hierarchy through its update code, this state is passive.
  • Active state An active state transmits at least one command, as defined hereafter, directly after it has been selected. This state carries its own list of commands. All the commands in this list are transmitted at once. It continues transmitting until the state is aborted and another state becomes current.
  • Not-Active state This state is similar to the active state, but it transmits its commands when it is aborted. Delayed state - A timed delay postpones the transmission of its command list until a certain time has expired. The timer starts when the state becomes active. When the state is aborted before this time was reached, no actions are taken.
  • Wait state A wait state utilizes the possibility to create cross links throughout the control structure. It only transmits the command list after the node at the end of its cross link reaches a certain state. If the state is aborted before this happens, no action is taken. The first time the state is active it establishes the necessary connection.
  • Conditional state The conditional state also uses a cross link connection to another node. This state has two associated command lists. Which command list is transmitted depends on the state of the node at the end of the cross link. Conditional states act immediately after the successful creation of the cross link.
  • Commands force nodes into a state. Commands are transmitted by active states of any type and can be sent to any node in the structure.
  • the destination of a command is declared by entering the identification label, e.g., number of the destination node.
  • the actual command is the code of the state that this node should activate. The node will select this state immediately, without checking its IO or calculated/real-time state. The node performs all the actions linked to this state. Commands usually only have state information but can carry additional parameters when this is needed. These parameters can be any kind of number, e.g., analog set points but can also be structural information.
  • Command list A list of commands that is linked to a certain state or element. Command lists are transmitted as one unit, but each item of the command list can be retrieved individually.
  • Command stack To enable the commands to be transmitted throughout the structure, all commands that are transmitted are stored on a central command stack. This stack is scanned by every node before it makes its update calculation. If a node finds a command with its identification number, it is put in this state immediately. The command is then removed from the command stack. It is preferred to allow nodes to send commands mainly to their own child nodes. This keeps the stack low. Reports - Reports are shadow-representations of a node. A report that a node transmits contain the nodes identification code and the structural location of this node. Transmitting a report can be forced by sending a predefined command to a node. Reports are used to form cross links between nodes.
  • Report stack To ensure that reports are available throughout the structure, all reports that are initiated are stored on a central report stack. This stack is scanned by every node that is trying to establish a crosslink. If a node finds a report with the desired identification number, the structural information in the report is used for the creation of a cross link. The report is then removed from the report stack.
  • the basic elements of these structures are nodes and child nodes with states. These elements are control elements.
  • Systems - A system is a controller like any other, except that it displays its descendants as controllers. The descendants are updated continuously with their full representation. This enables the user to monitor several controllers simultaneously.
  • the intended purpose of the control structure is to manage a large number of devices in an organized way. These devices are usually endnodes with all the necessary states. Since devices are the software link to the physical (real) world, they include a number of features that enables them to perform a certain task. In most case, this means that a few of the, e.g., 256 (0 to 255) states that a device can have are predefined. State transitions are then driven by events in the physical portion 1 through interface device drivers 6a, etc.
  • Transitional devices - A transitional device is only capable of making state transitions as a result of commands. These devices are useful to set controllers into certain states, without having to change the actual hardware platform. This enables the user to let the system react differently to identical situations.
  • IO devices - IO (input/output) devices are devices that represent the value of items in the interface database in a few predefined states. They may address these items individually.
  • the types of IO devices are as follows.
  • Digital input devices - Digital input devices have two predefined states corresponding to their input signal. Logical low will yield state code “0”, logical high will result in state “1".
  • the source of the digital signal is determined with a parameter set “channel” and a “line” parameter. "Channel” defines the slot and "line” appoints the bit on this slot of an item in, for example, the interface database.
  • Analog input devices - Analog input devices represent an analog input voltage (signal). This voltage can be scaled using a scale function. Analog input devices may also contain a setpoint and a maximum relative tolerance. With the actual analog input signal these numbers determine the state of the device.
  • the predefined states are declared as represented graphically (in an example) in Figure 2a or by any transfer function. Figures 2b and c show particular rounding function to determine a state value from an analog deviation value.
  • the signal input source is defined by the "channel" parameter. This number represents the source of the analog signal.
  • Arithmetic devices - Arithmetic devices have an extra field where a string representing any calculation can be entered.
  • the function is compiled (see description of function compiler below), and is used in a compiled format during runtime.
  • the result of the calculation is the current value of the device. State determination is performed as for an analog device.
  • Change devices monitor absolute change of the value of a guest node.
  • the device is reset at a certain state and it stores the value of the guest node at that time.
  • the device continuously monitors the difference between the stored and the present result of the guest node.
  • the state determination is the same as for an analog device.
  • Derivative devices are normally linked to an analog device. It accepts the actual value of the analog device and differentiates it with respect to time. The number of data samples that the device uses is variable. The actual derivation uses the following linear regression approximation of the curve slope in time:
  • n is the number of data points
  • value is the actual value of the analog device.
  • the device state is defined as for analog devices. See the graph of
  • Integral, integral ,__ d , + Value, -dt
  • Clock devices - Clock devices display the current value of a real time clock. The value is updated whenever a state change occurs.
  • Speed devices - Speed devices display the number of times it has been updated since the last state change.
  • Memory devices - Memory devices read the system memory. This device is especially useful during system development. The total memory usage of the system structure can be monitored. It is also possible to see if any unaddressed commands are transmitted. This leads to a continuous decreasing of available memory. This device is updated when a state change occurs.
  • Message - Message devices keep track of all the messages that are sent from the hierarchical structure during runtime.
  • the state descriptions of this controller are the actual message text. It is still possible to connect an action to a certain message. The difference is that these commands are only transmitted once. With the message text, the accompanying command name (usually an indication of the source of the message) and the time of receiving the message command is displayed.
  • Manual commands Entering of commands occurs in two different ways. Both are linked to a node and are only available in that node. The given commands however, are treated as if it where internal system commands send by states. Thus, manual commands are not limited to the node that carries the command item.
  • Command menu - This menu is hidden under a representation displayed on the node whenever the list is not empty. The list is opened when the user selects this button. The commands in the list are defined during configuration of the system. The user can select a command from this list. The selected command will be put on the command stack immediately. A node can carry more then one command list.
  • Command buttons - A command button is displayed on the node as a single object. This button represents a command list. When the user presses the command button, the complete command list is placed on the command stack. The commands in the list are defined in the configuration. A node can carry more then one command button.
  • An illustrative example of an interface platform (see Figure 1) used in the present system is a commercially available National Instruments SCXI-based chassis.
  • the actual software link from the host computer executing control structure 8a to the chassis is via the hardware device drivers 6a, etc., (which themselves are software but are hardware dependent).
  • Device drivers 6a, etc. continuously update the software representation of the interface chassis in the interface database 7. This software representation depends on the configuration of the chassis.
  • Chassis The chassis is the collection of IO circuits 5a, etc., (also referred to as "boards” for circuit boards as described hereinafter).
  • Analog input board The analog input board device driver manages, e.g., 32 channels of analog input as presented by an analog multiplexer board. The channels are periodically scanned during runtime of the system. Each channel can be sampled several times before the average value is written in the interface database. To avoid cross channel overlap, the driver switches to the next channel after measuring but then leaves the analog measuring procedure. During the next analog update cycle the then selected channel is updated.
  • Analog output board Complementary to the analog input board.
  • Digital input board - The digital input board driver updates all, e.g., 32 bits of the digital input database to agree with the bitmap of the corresponding physical inputs during each updating cycle.
  • Digital output board - The output board driver updates all, e.g., 16 channels of the digital output. The lines of the board are set as the bits are present in the digital output database for this board.
  • Serial IO board This IO circuitry supports serial communication.
  • the state determination procedure restarts its search at 36b with a default error state code. This state code is then set at 36, after which the state list is searched again. If the error state is not found, the procedure creates this state at 36c. The state is added to the state list of the device as a passive state with a pre-defined update code.
  • the first step that each device takes in its update cycle is the scanning of the command stack for any incoming commands, as shown in Figure 5a illustrating the command interpretation process.
  • the scanning of the command stack at 44 is abandoned whenever a command is found at 46 or at the end of the stack. This means that during one updating cycle only one command is taken. If there is more then one command for one specific device, they are handled in subsequent updating cycles.
  • the command code number is taken as the code to enter the state selection procedure at 48 followed by a current state update at 48b.
  • the state selection (determination) process 48 is shown in detail in Figure 4. The state that is identified by the code is activated immediately.
  • Structural state determination allows rapid and explicit state determinations.
  • a node asks all its child nodes to report their update codes, e.g., calculate their states.
  • the node takes the total sum of these codes. This summation is the number that the node uses to enter the state selection procedure. The node enters this procedure only when the result of the summation differs from the state code of the current state.
  • This process is illustrated in Figure 5b.
  • the state calculation is initialized at 45 to enter a state calculation at 47. Child nodes are checked at 49 and updated at 51 to report the update result at 53 to 47. Only when all child nodes are exhausted at 49 is this process exited at 53.
  • Subroutine 51 is the identical process for the childnode. This process descends into the hierarchy until the end of the branch is reached, i.e. an endnode is encountered.
  • Structural updating The procedures described above are all that is needed for the structural updating and state calculation as shown in Figure 6 beginning at 50.
  • each node starts with the command scanning and interpretation at 52 (shown in detail in Figure 5c).
  • the actual node state determination is executed at 54 (shown in detail in Figure 5b).
  • State selections 58 (shown in detail in Figure 4) are only performed when needed as determined at 56. This means that the device will only scans the state list whenever the lower levels change, or when a command is entered.
  • the state update is performed at 64. This is done to allow states that have running timers to update their timers or conditional states to check conditions.
  • An example of code (software) for structural update of a node (the controller state machine) is shown in Figure 7 in the Pascal language.
  • Cross link creation - A cross link creation process (see Figure 8) is initiated at 72 by the element that needs the link. If the link pointer is empty at 74, the element scans the report stack at 78 for the representation of the device it wants to link with. If the element does not find the information it needs, it transmits a pre-defined command at 80 that forces the potential guest node to put its structural information on the report stack. The element then leaves the current linking cycle at 83.
  • the potential guest node now finds a link request command on the command stack and transmits its coordinates to the report stack. This is the only action that the guest node takes.
  • the element that needs the link finds the information of its guest node on the report stack. This information is removed from the report stack and stored in the link pointer at 82. After this cross-link creation, all information of the guest node is available to the linking element.
  • the actual control system is indifferent with respect to the hardware platform (chassis) it controls.
  • a hardware device driver 6a, etc. ( Figure 1) (software) is in the main runtime loop.
  • This device driver updates the interface database 7 of the hardware situation each time it is addressed. It also sends out any changes to the hardware settings made by the control structure 8a.
  • the physical portion 1 is exactly represented in the database 7.
  • the corresponding item in the interface database 7 is updated in real time.
  • the control structure 8a only uses the software representation by direct reading and writing on the elements of the database 7.
  • Function compiler Any number in the control structure 8 a can be replaced by a function.
  • the function compiler can interpret a number of other operations. These operations or functional relations are used to speed up evaluations.
  • the functional dependence of state parameters may be established by the function compiler.
  • the function compiler may directly influence a state of a node, e.g., the compiled function may be a component in a child node list of a node.
  • Boolean functionality - Boolean operators in the compiler are shown in Figure 9c.
  • the result of these evaluations is a real number with value '0' if false and ' 1 ' if true.
  • the result of the '-' operator depends on the setting of a range variable. This evaluation is used to determine whether two real values (a and b) do not deviate more then a certain amount.
  • the actual evaluation algorithm is:
  • This function returns the current value of the parameter of the device for the identification numbers entered between the brackets.
  • the function creates the cross link when it is updated and the link has not been established yet.
  • the other form is used to directly address the interface database 7. The actual form depends partly on the format of the elements in database 7, but the general form is:
  • IOP ChassisID, SlotID, LinelD
  • the runtime editor is a special re-entering editor whose functions can be inserted in the main cycle.
  • the editing functions change parameters and settings without interrupting the control sequence.
  • the editor also allows the user to move items over the screen to any desired position. It is possible to instruct the system to open more then one viewport to the control structure. This allows the user to have multiple controllers on one screen. All items on the screen can be edited by the editor. Whenever the system is halted, the identification codes of the items on the screen are stored in the default screen item list. No structural changes are allowed during runtime. This means that no subnodes can be removed or added, and that no node identifications can be changed. However, it is possible to alter the state and command tables of the nodes.
  • the runtime editor is only active when the menu structure is active.
  • the structural editor incorporates the structural modification functions. With this editor the system structure is defined or modified. It allows the creation, deletion and modification of structural branches and nodes.
  • Normal There are three operational modes: Normal - The normal mode runs the system as quickly as possible. This mode should be used after the system performs as intended.
  • Defining the current state enters the normal state definition sequence. Selecting an already defined state will add the undefined state code to the state code list of the defined states. Selecting ignore will no longer cause the system to halt at this node for this state. After completion of the state definition, the system continues running with the new state. The system does not store the modifications; this is done manually. Clearing the learn mode by selecting another running mode, also clears all the ignore flags.
  • tank 72 in which two sensors 74a, 74b monitor the liquid level.
  • One low-level sensor 74b is at the bottom of the tank 72 and a high level sensor 74a is at the top (see Figure 10).
  • Several states have to be defined for tank 72. One wants to be able to detect if the tank is "full", “empty” or somewhere in between. This last state is defined as “ready”.
  • Both sensors 74a, 74b can have two states, "wet” or “dry”. These two states are directly related to the digital input (“high” or "low”) from the sensor. With these states one defines the following state table for the tank:
  • controller 122 to the metering pump 128 is monitored on a digital input line. Because it is only necessary to know if the pump 128 is running, the actual digital state of the pulse is not important. Therefore, this pulse is converted to a two-state update code that identifies the running state of the pump. This is done by adding a third state to the controller. This state is always made active if any of the other two is active for more then a certain time. These other two states are the default digital input states. Both digital states have the same update, so they are indistinguishable for the higher level controller.
  • the timing diagram for controller 122 is in Figure 13.
  • the corresponding state transition table is:
  • the default state of the metering pump 128 is "OFF". (See the following table.) In this state the pump 128 is disabled and does not start pumping if control pulses are available. Before starting, the pump 128 is set in the "READY” state by closing the "pump enable” relay. If control pulses are available, the pump controller goes “RUNNING". If the internal alarm relay of the pump 128 is released, the pump is set to "OFF-error”. If this happens during ready or running states, the pump 128 is disabled.
  • the batch controller 122 has remote switches, a steering relay for the Dl-water valve 132 and an overrun alarm relay. It only handles the "Running" state as active. The total time in this state is limited. The overrun relay sends out commands independently. It shuts down the system and fires the major alarm when activated.
  • the state transitions are: e. Acid Mix System. This controller manages the batch controller 122 and its metering pump 128 as shown in the following table. It is a combination of the batch controller and its metering pump:
  • This controller (not shown) lets the complete blending system, including its tank, line and supply, act as one unit.
  • the default state of the controller is Standby as shown in the following table. In this state the system is on line and the mixing system is off. This means that the metering pump 128 is disabled. After a start request, the metering pump 128 is enabled which sets the mixing system standby. The system is now Idle. This idle state has its own timer that puts the mixing system running by starting the batch controller 122.
  • a third example is a high vacuum system, common in high vacuum technology. Although much of the functionality of the physical system is normally in the actual hardware, in this example the control system controls each part.
  • the (physical) high vacuum system of Figure 15 consists of a vacuum chamber 90 that is pumped with a high vacuum cryo pump 92 connected to a forepump 94. A number of valves 96, 98, 100, 102, 110 are used for the operation of this physical system and pressure measurements 104, 106, 108 are installed to allow monitoring.
  • the physical system is partitioned along the dotted lines in Figure 15.
  • the dotted lines in the physical system overview of Figure 15 are boundaries of hierarchically separated portions of the corresponding software.
  • the corresponding software (control structure) hierarchy is depicted in Figure 16.
  • the function of each element can be displayed in logical tables. The following tables contain the elements' states as well as the sub-elements states and update codes:
  • the computer software may be coded in any one of a number of computer languages. Examples of suitable languages are C++ or Pascal (see Figure 7).
  • the graphical user interface may take any one of a variety of forms. For instance, a typical graphical user interface uses different colors where, for instance, each node may have a different color indicating its state.
  • a variety of icons are usable for the graphical user interface. The actual icons and/or graphical user interface symbols are a matter of choice. Therefore, the present invention is not limited to the embodiments of this disclosure, which is illustrative and not limiting, but includes modifications and additions thereto and is defined by the appended claims.

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Abstract

La présente invention concerne un système de commande hiérarchique qui est inclus dans un logiciel informatique pouvant être exécuté sur un ordinateur universel et qui permet la simulation et/ou la commande de systèmes physiques (réels) informatisés. Ce système est adapté à la commande et au contrôle de systèmes physiques complexes sans utilisation de circuits d'interface perfectionnés. Une interface (7) utilisateur ergonomique s'adapte graphiquement de très près au système informatisé particulier qui est en train d'être simulé et/ou commandé. Le système informatisé est divisé en divers sous-éléments, chacun de ces sous-éléments représentant généralement une partie physique, telle que des pompes, des indicateurs ou des réservoirs, dans un système de traitement chimique. Ces éléments sont disposés dans une structure hiérarchique d'éléments. A chaque élément sont associées l'intelligence et la logique, en terme de logiciel informatique, nécessaires à sa fonctionnalité physique correspondante. La fonction de chaque élément dépend de son état courant tel que défini par le logiciel informatique et les états peuvent être modifiés par des commandes, comme dans le système physique.
PCT/US2000/018179 1999-06-30 2000-06-30 Procede et appareil permettant de commander hierarchiquement des systemes a fonctionnement continu WO2001001207A1 (fr)

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WO2002079974A2 (fr) * 2001-03-29 2002-10-10 Siemens Aktiengesellschaft Procede et dispositif d'elaboration automatique de programmes de simulation
WO2002079885A2 (fr) * 2001-03-29 2002-10-10 Siemens Aktiengesellschaft Procede et dispositif de maintenance
WO2004044788A1 (fr) * 2002-11-14 2004-05-27 Alstom Ferroviaria S.P.A Dispositif et procede de verification des moteurs logiciels de chemin de fer permettant de commander des installations telles que des gares
FR2865557A1 (fr) * 2004-01-27 2005-07-29 Sinovia Systeme ouvert d'integration et de gestion des composants informatiques representant une fonctionnalite specifique d'une application determine
WO2007012707A1 (fr) * 2005-07-26 2007-02-01 Sinovia Systeme ouvert d'integration et de gestion de composants informatiques representant une fonctionnalite specifique d'une application determinee
CN103163785A (zh) * 2013-03-19 2013-06-19 中国科学院声学研究所 一种声纳半实物仿真系统
CN103995478A (zh) * 2014-05-30 2014-08-20 山东建筑大学 基于现实虚拟互动的模块化液压机械臂实验平台及方法
CN105005206A (zh) * 2014-04-16 2015-10-28 上海交通大学 一种agv运动控制半实物仿真系统

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EP0482523A2 (fr) * 1990-10-24 1992-04-29 Osaka Gas Co., Ltd. Interface opérateur polyvalente pour afficher les résultats de diagnostic de faute dans un système de commande de processus intelligent
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EP1249813A1 (fr) * 2001-02-26 2002-10-16 Airbus France Dispositif de commande d'un système de surveillance de l'environnement d'un aéronef
US6505115B2 (en) * 2001-02-26 2003-01-07 Airbus France Device for controlling a system for monitoring the environment of an aircraft, in particular of a transport aircraft
FR2821467A1 (fr) * 2001-02-26 2002-08-30 Eads Airbus Sa Dispositif de commande d'un systeme de surveillance de l'environnement d'un aeronef, notamment d'un avion de transport
WO2002079974A2 (fr) * 2001-03-29 2002-10-10 Siemens Aktiengesellschaft Procede et dispositif d'elaboration automatique de programmes de simulation
WO2002079885A2 (fr) * 2001-03-29 2002-10-10 Siemens Aktiengesellschaft Procede et dispositif de maintenance
WO2002079885A3 (fr) * 2001-03-29 2003-08-07 Siemens Ag Procede et dispositif de maintenance
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WO2004044788A1 (fr) * 2002-11-14 2004-05-27 Alstom Ferroviaria S.P.A Dispositif et procede de verification des moteurs logiciels de chemin de fer permettant de commander des installations telles que des gares
AU2003288271B2 (en) * 2002-11-14 2008-09-11 Alstom Ferroviaria S.P.A. Device and method for checking railway logical software engines for commanding plants, particularly station plants
FR2865557A1 (fr) * 2004-01-27 2005-07-29 Sinovia Systeme ouvert d'integration et de gestion des composants informatiques representant une fonctionnalite specifique d'une application determine
WO2007012707A1 (fr) * 2005-07-26 2007-02-01 Sinovia Systeme ouvert d'integration et de gestion de composants informatiques representant une fonctionnalite specifique d'une application determinee
CN103163785A (zh) * 2013-03-19 2013-06-19 中国科学院声学研究所 一种声纳半实物仿真系统
CN105005206A (zh) * 2014-04-16 2015-10-28 上海交通大学 一种agv运动控制半实物仿真系统
CN103995478A (zh) * 2014-05-30 2014-08-20 山东建筑大学 基于现实虚拟互动的模块化液压机械臂实验平台及方法
CN103995478B (zh) * 2014-05-30 2016-05-18 山东建筑大学 基于现实虚拟互动的模块化液压机械臂实验平台及方法

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