| 基于PtolemyⅡ的自主飞行器控制系统代码生成及应用 |
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| 引用本文： | 何岳,秦兴国,陈俊伟,宋亮亮,谷德权.基于PtolemyⅡ的自主飞行器控制系统代码生成及应用[J].系统仿真学报,2012,24(2):332-338. |
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| 作者姓名： | 何岳 秦兴国 陈俊伟 宋亮亮 谷德权 |
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| 作者单位： | 中国科学院深圳先进技术研究院,深圳,518055 |
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| 基金项目： | 国家自然科学基金会面上项目(60773196) |
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| 摘 要： | 为解决自主飞行器控制系统设计中存在的复杂的代码制造问题,引入基于计算模型的设计方法,使用适合于控制系统建模的同步数据流计算模型来指导模型中各个模块之间的交互通讯,通过进行静态分析决定模块的执行顺序并能以此产生相应代码。在Ptolemy II图形语言开发环境下,以同步数据流计算模型对自主飞行器实时控制系统进行有效建模,并在此计算模型指导下自动生成代码,而所生成的代码能实施在实时分布式计算平台上,实现自主飞行器单机自主飞行的硬件在环仿真。
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| 关 键 词： | 飞行器控制系统 计算模型 同步数据流 代码生成 硬件在环仿真 |
Code-Generation for Autonomous Vehicles Based on Ptolemy Ⅱ |
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| Institution: | HE Yue1,QIN Xing-guo2,CHEN Jun-wei1,SONG Liang-liang1,T.John KOO3(1.College of Engineering,Shantou University,Shantou 515063,China; 2.Guilin University of Electronic and Technology,Guilin 541004,China; 3.Shenzhen Institutes of Advanced Technology,Chinese Academy of Sciences,Shenzhen 518055,China) |
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| Abstract: | Model-based design methodology was introduced to reduce the complexity of code production in the design of autonomous vehicles control systems.Synchronous dataflow is a model of computation suitable for modeling control systems.In a synchronous dataflow model,the underlying model of computation governs the interaction and communication of the components in the model and software code can be generated by performing static analysis to determine the execution order of the components.The model of autonomous vehicles control system can be modeled effectively in Ptolemy II,a graphical language modeling environment,by using synchronous dataflow model of computation.The code for controlling autonomous vehicles can be automatically generated and deployed onto a real-time distributed computing platform for implementing the hardware-in-the-loop simulation of the autonomous vehicles. |
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| Keywords: | vehicles control system models of computation synchronous dataflow code generation hardware-in-the-loop simulation |
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