The 14th IEEE International Conference on Industrial Informatics (INDIN), 18-21 July 2016, Poitiers, France Towards a Model-Integrated Computing Paradigm for Reconfigurable Motion Control System Li Di1, Zhou Nan1, Wan Jiafu1, Zhai Zhenkun1, Athanasios V. Vasilakos2 1 South China University of Technology, China 2 Luleå University of Technology, Sweden

Outline Motiviation Solution: Model-Integrated Computing Motion Controller in Modern Manufacuring Environment Solution: Model-Integrated Computing IEC 61499 Based Domain-Specific Modeling Language DSML Design Environment Meta-Modeling (Syntax Domain) Model Transformation (Semantics Domain) DSML Execution Environment Domain-Independent Execution Environment Domain-Specific Extension Case Study Conclusions

Motiviation Motion Controller Device in the lowest layer of modern manufacturing control system Challenge Faced Hardware-software convergence with rigorous real-time constraints; Manafactruing paradigm shift: mass production to mass customization; Outdated development philosophy; New Development Paradigm should: allow to develop the system on higher abstraction level; bring enhanced flexibility, reconfigurability, dependability, etc.; be easy-to-learn.

Outline Motiviation Solution: Model-Integrated Computing Motion Controller in Modern Manufacuring Environment Solution: Model-Integrated Computing IEC 61499 Based Domain-Specific Modeling Language DSML Design Environment Meta-Modeling (Syntax Domain) Model Transformation (Semantics Domain) DSML Execution Environment Domain-Independent Execution Environment Domain-Specific Extension Case Study Conclusions

Solution Model-Integrated Computing Supporting Tool Model-Driven Design; Domain-Specific Modeling Language; Multi-Aspect Modeling; Easily Integrated Formal Syntax and Semantics Meta Modeling Model Transformation Domain Modeling Model Integrated Computing is an approach to system development using domain specific models to represent the architecture and behavior of the system and its environment. The model-based and multi-aspect design principles can improve the efficiency, abstraction level and correctness of the development process. DSML Designer and DSML User in the OMG four-layered architecture One Tool: Generic Modeling Environment (GME)

Motion Control Domain Specific Extensions Solution Our Approach: Proposing two environments for supporting MIC-based development Design-phase Implementation DSML Definition 3rd-Party Tools Model Transform UPPAAL Domain Meta-Model Domain Formal Semantics Design Environment Ptolemy II Domain Specific Model Others Model Deploy & Re-Deploy Execution-phase Implementation IEC61499 Function Blocks Runtime Framework for Motion Control Execution Environment Domain-independent IEC 61499 Runtime Framework Motion Control Domain Specific Extensions Physical Environment

Outline Motiviation Solution: Model-Integrated Computing Motion Controller in Modern Manufacuring Environment Solution: Model-Integrated Computing IEC 61499 Based Domain-Specific Modeling Language DSML Design Environment Meta-Modeling (Syntax Domain) Model Transformation (Semantics Domain) DSML Execution Environment Domain-Independent Execution Environment Domain-Specific Extension Case Study Conclusions

The environement is comprised of: DSML Design Environment The environement is comprised of: a new development methodology, a domain-specific modeling language (DSML), a set of model transformers for assigning behavioral semantics, a set of code generators for models deployment on specific platforms. The most critical task in implementing such an environment: Formal Syntax and Semantic Definition of the DSML DSML: L = A, C, S, MC , MS; Meta-models definitons to implement the syntax domain; Semantic anchoring with regard to pre-defined Models of Computation to implement the semantics domain

Meta-Modeling (Syntax Domain) IEC 61499 Flexibility Reusability Standard for Modeling Industrial Process and Measurement Control System Flexibility Reusability Robustness Reconfigurability A modular, hierarchical DSML based on the IEC 61499 Formal Syntax Formal Semantics DSML Execution Environment

Meta-Modeling (Syntax Domain) System Layer Formal Syntax System Meta-Model in GME System = D, DL, A, Fs  Elements Comments D non-empty finite set of device models DL link segments for inter-device communications A application composed by IEC 61499 FB networks Fs Fs: AD, allocation of A to D

Meta-Model in GME (Parts) (Syntax Domain) Device Layer Device and Resource Meta-Model in GME (Parts) Formal Syntax D = R, T, FD  Elements Comments R non-empty finite set of resource models T a set of run-time tasks FD FD:TR, mapping relationship of T to R

Meta-Modeling (Syntax Domain) Resource Layer Formal Syntax FB Meta-Model in GME (Parts) R = H, Sos, TRef T = FRef, d, p, w, prio Elements Comments H a set of hardware-specific parameters Sos the set of available scheduler strategies for allocated tasks TRef the set of references to the allocated tasks FRef a set of referenced FBs and connections contained in system application TPara d, p, w, prio (real-time parameters)

Meta-Modeling Domain-Specific Concepts Integrated Majorly inherited from the IEC 61499 reference models

Meta-Modeling Example System Model in GME Platform Aspect Function Configuration Aspect

Meta-Modeling Example Device , Resource and Task Models in GME Models in the MC Card Device Platform Aspect Function Aspect Configuration Aspect

Meta-Modeling Example FB Model in GME ECC A Basic FB for extracting basic tokens in the G-Code

Model Transformation (Semantics Domain) Integrating Semantics By Model Transformation: Semantics Anchoring Theoretical Base: DSML: L = A, C, S, MC, MS SUi : Li = Ai , Ci , Si , Mci ,MSi DSML semantic unit SUi MS = MSi ◦ MA C A MC S MS C A MCi Si MSi MA MT A series of MoCs are selected as the semantics units Domain Model MoC BFB FSM or TA FBN DE or TA Task PN or TA Semantics Anchoring Semantics of L is anchored to the SUi semantic domain of the Li modeling language: MS = MSi ◦ MA

Model Transformation (Semantics Domain) Integrating Semantics By Model Transformation: Semantics Anchoring Implementation Based on Graph Rewriting : GME Platform GReAT Tool DSML Metamodel (A) Model Trans. Rules (MA) SUi Metamodel (Ai) MC Generate Instance Domain Model (C) Trans. Engine (MT) Semantic Model (Ci) GReAT : Graph Rewriting And Transformation

Model Transformation (Semantics Domain) Trans. Rules Definition in the GReAT Tool: From DSML to Ptolemy MoCs PN DE Extended FSM

Model Transformation (Semantics Domain) Transformation Case: From DSML to Ptolemy MoCs Dst. MoCs Src. Models

Model Transformation (Semantics Domain) Transformation Case: From DSML to UPPAAL MoCs Dst. MoCs Src. Models FBN FB_CALC FB_DEV FB_INT

Outline Motiviation Solution: Model-Integrated Computing Motion Controller in Modern Manufacuring Environment Solution: Model-Integrated Computing IEC 61499 Based Domain-Specific Modeling Language DSML Design Environment Meta-Modeling (Syntax Domain) Model Transformation (Semantics Domain) DSML Execution Environment Domain-Independent Execution Environment Domain-Specific Extension Case Study Conclusions

DSML Execution Environment The environement is comprised of: a domain-independent IEC 61499 execution environment, an extended framework for the motion control domain. Features of our execution environment written in ANSI C : portability, efficiency; extension of priority-based event connection: enhanced determinacy; multiple execution models integrated; dynamically extendable type library.

DSML Execution Environment The overall architecture (inspired by FORTE) Device Log Manage Resource Extern Event Manager FB Chain Executor Algorithms Layer Interrupt-Handling IEC61499 Function Block Runtime Environment for Motion Control Operating System & Device Specific Hardware Type Libs PLCopen FBs Resources IEC61499 FBs User-defined FBs SR SVR MGR START FB Automation Control Res. 1 SIFB Automation Control Res. n Automation … PLC Runtime Resource Control Motion Control Resource Control Law Trajectory Planning Kinematics Axes Object Others Communication Interface Process Interface Memory Hardware Abstraction Physical Timer XML Parser & C-JIT

DSML Execution Environment Domain-Independent IEC 61499 Execution Environment Implementation of the reference models in the standard device model, resource model, FB model,…; Dynamically extendable FB type library integration of an XML parser and a C language interpreter only supported in the non-realtime platform Priority-based event connection priority is assigned in the design phase ; implemented using binary-heap based priority queue; Explicitly separate the concrete execution model from FB network a resource model contains one kind of execution model for specifying the scheduling policy of the FB network in the resource model; dynamic information of FB is contained in the execution model ;

DSML Execution Environment Domain-Specific Extension High level control Automation-Control Res 1 SIFB FB Automation-Control Res n Automation Layer … PLC RT Resource Control Motion-Control Resource Control Law Trajectory Planning Kinematics Axes Object user-specific automation control layer of motion control system; usually relative to specific manufacturing processes; based on PLCopen FB Low level control general drive control layer of motion control system; motion commands interpreting, trajectory planning, drive controlling and PLC execution; based on algorithm caller FBs developed by our team

Outline Motiviation Solution: Model-Integrated Computing Motion Controller in Modern Manufacuring Environment Solution: Model-Integrated Computing IEC 61499 Based Domain-Specific Modeling Language DSML Design Environment Meta-Modeling (Syntax Domain) Model Transformation (Semantics Domain) DSML Execution Environment Domain-Independent Execution Environment Domain-Specific Extension Case Study Conclusions

Case Study 3-Axis Motion Control System G Code Interpreting Circular FBs for the third axis are omited … G02 X0 Y0 I20 J20 F60 G Code Interpreting Circular Movement

Case Study Circular Movement Test execution graph of the deployed tasks in the MC card device output set-points of Axis X and Axis Z and the trajectory

Conclusions The proposed design environment: provides IEC 61499 based domain specific modeling language; provides model transformers for anchoring formal semantics of MoCs in the third-party tool (UPPAAL & Ptolemy II); provides plug-ins for deploying models into the execution environment (by standard management commands) The proposed execution environment: supports execution of IEC 61499 reference models deployed from the design environment; allow co-existences of multiple types of execution model; supports standard management command, includes runtime creation of FB types The proposed adoption of MIC paradigm: enables developing motion control system in a model-based pattern; enhances reusability, reconfigurability, dependability

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