Rapid prototyping of real-time control laws for complex mechatronic systems: A case study

Journal of Systems and Software

Volumn 70, Issue 3, 2004, Pages 263-274

  Deppe, M ^a   Zanella, M ^a   Robrecht, M ^b   Hardt, W ^a  

^a UNIVERSITY OF PADERBORN   (Germany)

^b iXtronics Ltd   (Germany)

Author keywords

Distributed controller realization; Hardware in the loop simulation; Mechatronics; Rapid prototyping

Indexed keywords

COMPUTER HARDWARE; COMPUTER SIMULATION; DATA PROCESSING; DISTRIBUTED PARAMETER CONTROL SYSTEMS; INFORMATION ANALYSIS; LARGE SCALE SYSTEMS; MICROCONTROLLERS; OBJECT ORIENTED PROGRAMMING; RAPID PROTOTYPING; REAL TIME SYSTEMS;

DISTRIBUTOR CONTROLLER REALIZATION; REAL-TIME CONTROL LAWS;

MECHATRONICS;

EID: 0346967287     PISSN: 01641212     EISSN: None     Source Type: Journal    
DOI: 10.1016/S0164-1212(03)00073-6     Document Type: Conference Paper

References (29)

1. Anderson, D., 1999. FireWire systems architecture: IEEE 1394a. second ed., MindShare, Inc., Addison-Wesley, Reading, MA, Menlo Park, CA.
2. Becker, M., Jäker, K.-P., Frühauf, F., Rutz, R., 1996. Development of an Active Suspension System for a Mercedes-Benz Coach (O404). IEEE International Symposium on Computer-Aided Control System Design, Dearborn, Mich., 15-17 September.
3. Cumplido-Parra, R.A., Jones, S.R., Goodall, R.M., Mitchell, F., Bateman, S., 2000. High Performance Control System Processor. 3rd Workshop on System Design Automation (SDA 2000), Rathen, Germany, pp. 60-67.
4. Eikerling, H.-J., Hardt, W., Gerlach, J., Rosenstiel, W., 1996. A Methodology for Rapid Analysis and Optimization of Embedded Systems. Engineering of Computer-Based Systems, Friedrichshafen, Germany.
5. Hahn, M., 1999. OMD - Ein Objektmodell für den Mechatronikentwurf. VDI-Fortschrittberichte, Reihe 20, Nr. 299, VDI-Verlag, Düsseldorf, Germany.
6. Hanselmann, H., 1987. Implementation of Digital Controllers - A Survey. Automatica, vol. 23, No. 1, Great Britain, pp. 7-32.
7. Hardt, W., Kleinjohann, B., 1998. Flysig: Dataflow-Oriented Delay-Insensitive Processor for Rapid Prototyping of Signal Processing. 9th IEEE International Workshop on Rapid System Prototyping, Leuven, Belgium.
8. Hardt, W., Kleinjohann, B., 1998. Flysig: Towards High Performance Special Purpose Architectures by Joining Paradigms. 7th NASA Symposium on VLSI Design, Albuquerque, NM.
9. Hardt, W., Rettberg, A., Kleinjohann, B. 1999. The PARADISE design environment. 1st New Zealand Embedded Systems Conference, Auckland, New Zealand.
10. Hardt, W., Kleinjohann, B., Rettberg, A., Kleinjohann, E., 1999. A New Configurable and Scalable Architecture for Rapid-Prototyping Asynchronous Designs for Signal Processing. 12th Annual IEEE International ASIC/SOC Conference, Washington, DC.
11. Hardt, W., Visarius, M., Kleinjohann, B., 2000. Architecture Level Optimization for Asynchronous IPs. 13th Annual IEEE International ASIC/SOC Conference, Washington, DC.
12. Hardt, W., 2000. Integration von Verzögerungszeit-Invarianz in den Entwurf eingebetteter Systeme. Habilitation Thesis, University of Paderborn, Paderborn, Germany.
13. Honekamp, U., Stolpe, R., Naumann, R., Lückel, J., 1997. Structuring Approach for Complex Mechatronic Systems. 30th International Symposium on Automotive Technology and Automation - echatronics/Automative Electronics, Florence, Italy, pp. 165-172.
14. Honekamp, U., 1998. IPANEMA - Verteilte Echtzeit-Informationsverarbeitung in mechatronischen Systemen. VDI-Fortschrittberichte, Reihe 20, Nr. 267, VDI-Verlag, Düsseldorf, Germany.
15. Kalte, H., Porrmann, M., Rückert, U., 2000. Rapid-Prototyping-System für dynamisch rekonfigurierbare Hardwarestrukturen. AES 2000, Karlsruhe, Germany.
16. Kasper, R., Reinemann, T., 2000. Implementierung sehr schneller Steuer- und Regelalgorithmen für mechatronische Systeme auf Gatterebene. VDI-Berichte, Nr. 1533, VDI-Verlag, Düsseldorf, Germany.
17. Lückel, J., Hestermeyer, T., Liu-Henke, X., 2001. Generalization of the Cascade Principle in View of a Structured Form of Mechatronic Systems. IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM 2001), Como, Italy.
18. Lückel, J., Naumann, R., Rasche, R., 1999. Systematic Design of Crosslinked Mechatronic Systems, Exemplified by a Decentralized Intersection Management. European Control Conference 1999, Karlsruhe, Germany.
19. Meier-Noe, U., Hahn, M., 1999. Entwicklung mechatronischer Systeme mit CAMeL. 3. Workshop Transmechatronik: Entwicklung und Transfer von Entwicklungssystemen der Mechatronik, Krefeld, Germany.
20. Middleton R.H., Goodwin G.C. Digital Control and Estimation. 1990;Prentice-Hall, Englewood Cliffs, NJ.
21. Motorola, Inc., 1999. MPC555 Evaluation Board Quick Reference.
22. Nitsch, C., Weiß, K., Steckstor, T., Rosenstiel, W., 2000. Embedded system architecture design based on real time emulation. Rapid Systems Prototyping 2000, Paris, France.
23. Petters, S., Muth, A., Kolloch, T., Hopfner, T., Fischer, F., Färber, G., 1999. The REAR framework for emulation and analysis of embedded hard real-time systems. 10th IEEE International Workshop on Rapid Systems Prototyping (RSP'99), Clearwater, FL.
24. Slomka, F., Bednara, M., Teich, J., Oberschelp, O., Deppe, M., 2002. Design and implementation of digital linear control systems on reconfigurable hardware. Pre-selected for publication in EURASIP Journal on Applied Signal Processing.
25. Stolpe R., Deppe M., Zanella M. Rapid Prototyping von verteilten, hierarchischen Regelungen am Beispiel eines Fahrzeugs mit hybridem Antriebsstrang. Journal it/ti. 42(2):2000;54-58.
26. Visarius, M., 2001. CAP: Ein Werkzeug zur Abbildung von periodischen Algorithmen auf konfigurierbare Zielarchitekturen. Master Thesis, University of Paderborn, Paderborn, Germany.
27. Xilinx, Inc., 2000. Xilinix - The Programmable Logic. Data Book 2000, San José, CA.
28. Zanella, M., Koch, T., Scharfeld, F., 2001. Development and structuring of mechatronic systems, exemplified by the modular vehicle X-mobile. IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM 2001), Como, Italy.
29. Zanella, M., Scharfeld, F., Koch, T., 2001. X-mobile: A mobile vehicle of research and education. RAAD 2001, 10th International Workshop on Robotics in Alpe-Adria-Danube Region, Vienna, Austria.