基于SysML的多域复杂机电产品系统层建模与仿真集成研究

发布时间：2019-03-30 14:20

【摘要】：随着机电系统复杂性的日益增加,系统层设计已成为复杂机电系统开发过程中不可缺少的环节。基于模型的系统工程(MBSE)及其标准建模语言SysML为系统层设计提供了一定的支持。然而,由于复杂机电系统自身的特点,使得SysML这一通用建模语言无法直接应用于其系统建模中。本文从复杂机电系统设计的需求出发,为其系统层建模与仿真提供了一套较完整的解决思路。本文首先分析了复杂机电系统建模的需求,即混合行为建模、多领域建模以及模型的自动验证。讨论了当前基于SysML的建模方法存在的不足,并提出本文的研究思路。在建模方面,复杂机电系统的行为包含时间连续行为、基于事件的离散行为以及混合行为三种类型,并且涉及控制、机械等多领域子系统的互连。本文针对复杂机电系统多领域、多行为的特点,对SysML语言进行扩展,提出了统一行为建模语言UBML。该语言提出有序参数图(SPD)并基于混合状态机理论为混合行为建模提供支持；在此基础上,分别基于IEC 61499标准以及动力学理论对控制子系统和广义机械子系统的行为提供了具体的建模支持。基于该语言,建立了层次化、多视图的统一行为模型。由于系统设计模型的复杂性,很难基于静态的模型验证设计的正确性。为支持设计模型的动态验证,本文采用基于Triple Graph Grammar (TGG)的模型转换方法,在UBML与仿真建模语言之间建立了双向转换关系,使基于UBML的行为模型可以自动转换生成仿真模型,为设计模型的自动仿真提供支持。在上述工作的基础上,本文创建了UBML建模元素包以及UBML-Simulink模型转换工具。在这些工具的支持下,以倒摆系统为例,实现了复杂机电系统建模和仿真过程。
[Abstract]:With the increasing complexity of electromechanical systems, system layer design has become an indispensable link in the development of complex electromechanical systems. The model-based system engineering (MBSE) and its standard modeling language SysML provide some support for system layer design. However, due to the characteristics of complex electromechanical systems, SysML, a general modeling language, can not be directly applied to its system modeling. Based on the requirements of complex electromechanical system design, this paper provides a complete solution for the modeling and simulation of the system layer. In this paper, the requirements of complex electromechanical system modeling are analyzed, which are hybrid behavior modeling, multi-domain modeling and automatic verification of the model. The shortcomings of current SysML-based modeling methods are discussed, and the research ideas of this paper are put forward. In the aspect of modeling, the behavior of complex electromechanical system includes three types: time-continuous behavior, event-based discrete behavior and mixed behavior, and involves the interconnection of multi-domain subsystems such as control, machinery and so on. In view of the multi-domain and multi-behavior characteristics of complex electromechanical systems, the SysML language is extended and a unified behavior modeling language (UBML.) is proposed in this paper. In this language, the ordered parameter graph (SPD) is proposed, and the hybrid behavior modeling is supported based on the mixed state machine theory. On this basis, based on the IEC 61499 standard and dynamics theory, the concrete modeling support for the behavior of control subsystem and generalized mechanical subsystem is provided. Based on this language, a hierarchical, multi-view unified behavior model is established. Because of the complexity of the system design model, it is difficult to verify the correctness of the design based on the static model. In order to support the dynamic verification of the design model, a bi-directional transformation relationship between the UBML and the simulation modeling language is established by using the model transformation method based on Triple Graph Grammar (TGG), so that the behavior model based on UBML can be automatically transformed into a simulation model. It provides support for the automatic simulation of the design model. On the basis of the above work, the UBML modeling element package and the UBML-Simulink model transformation tool are created in this paper. With the support of these tools, the modeling and simulation process of complex electromechanical system is realized by taking the inverted pendulum system as an example.
【学位授予单位】：浙江大学
【学位级别】：硕士
【学位授予年份】：2011
【分类号】：TH-39

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