Design of Embedded Control Systems

267 Pages·2005·2.27 MB·English

by  Marian Andrzej Adamski

Design of Embedded
Control Systems
Design of Embedded
Control Systems
Marian Andrzej Adamski
Andrei Karatkevich
and
Marek Wegrzyn
UniversityofZielonaGora,Poland
LibraryofCongressCataloging-in-PublicationData
Designofembeddedcontrolsystems/MarianAndrzejAdamski,AndreiKaratkevich,
MarekWegrzyn[editors].
p. cm.
Includesbibliographicalreferencesandindex.
ISBN0-387-23630-9
1.Digitalcontrolsystems—Designandconstruction. 2.Embeddedcomputersystems—Design
andconstruction. I.Adamski,M.(Marian) II.Karatkevich,Andrei. III.Wegrzyn,M.(Marek)
TJ223.M53D472005
629.8—dc22
2004062635
ISBN-10:0-387-23630-9 Printedonacid-freepaper.
ISBN-13:978-0387-23630-8
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About the Editors
Marian Andrzej Adamski received an M.Sc. degree in electrical engi-
neering (specialty of control engineering) from Poznan Technical Univer-
sity, Poland, in 1970; a Ph.D. degree in control and computer engineering
from Silesian Technical University, Gliwice, Poland, in 1976; and a D.Sc.
in computer engineering from Warsaw University of Technology, Poland, in
1991.
After completing his M.Sc. in 1970, he joined the research laboratory in
NuclearElectronicsCompanyinPoznan.In1973hebecameaseniorlecturer
attheTechnicalUniversityofZielonaGo´ra,Poland.From1976to1991hewas
employedasanassistantprofessor,andlaterfrom1991to1992asanassociate
professor.From1993to1996hewasavisitingprofessoratUniversityofMinho,
in Braga and Guimaraes, Portugal. Currently he is a full-tenured professor of
computer engineering at University of Zielona Go´ra, Poland. He is a chair of
ComputerEngineeringandElectronicsInstituteatUniversityofZielonaGo´ra.
Prof. Adamski’s research includes mathematical logic and Petri nets in
digital systems design, formal development of logic controller programs, and
VHDL,FPLD,andFPGAinindustrialapplications.
Prof.M.Adamskiisanauthorofmorethan160publications,includingsix
books, and he holds five patents. He is a member of several international and
nationalsocieties,includingCommitteesofPolishAcademyofSciences,Polish
ComputerScienceSociety,AssociationforComputingMachinery(ACM),and
TheInstituteofElectricalandElectronicsEngineers(IEEE).Hehassupervised
morethan100M.Sc.thesesandseveralPh.D.dissertations.Hehasbeenaprin-
cipalinvestigatorforgovernment-sponsoredresearchprojectsandaconsultant
to industry. He is a member of the editorial board of International Journal
of Applied Mathematics and Computer Science and a referee of international
conferences and journals. He has been involved as a program and organizing
committeememberofseveralinternationalworkshopsandconferences.Heob-
tainedtheScientificAwardfromMinistryofHigherEducationandwonseveral
timestheUniversityDistinguishedTeachingandResearchawards.
vi AbouttheEditors
Andrei Karatkevich received a master’s degree in system engineering
(1993)fromMinskRadioengineeringInstitute(Belarus)andPh.D.(1998)from
BelarusianStateUniversityofInformaticsandRadioelectronics(Minsk).From
1998to2000hewasemployedatthisuniversityasalecturer.Since1999hehas
beenworkingatUniversityofZielonaGo´ra(Poland)asanAssistantProfessor.
Dr.Karatkevichteachesavarietyofclassesincomputerscienceandcomputer
engineering. His research interest includes digital design, theory of logical
control.Petrinets,analysisandverificationofconcurrentalgorithms,discrete
systemsandgraphtheory.Hehaspublished40+technicalpapersandseveral
researchpresentations.
MarekWegrzynreceivedanM.Sc.inelectricalengineering(summacum
laude) from the Technical University of Zielona Go´ra, Poland, in 1991. Since
1991 he has been a lecturer of digital systems in Computer Engineering and
Electronics Department, Faculty of Electrical Engineering at the university.
He spent one academic year (1992–93) at University of Manchester Institute
ofScienceandTechnology(UMIST),Manchester,UK,workingonVLSIde-
sign and HDLs (Verilog and VHDL). He has been a visiting research fellow
in the Department of Industrial Electronics, University of Minho, Braga and
Guimaraes,Portugal(in1996).HereceivedhisPh.D.incomputerengineering
from the Faculty of Electronics and Information Techniques at Warsaw Uni-
versity of Technology, Poland, in 1999. Currently, Dr. Marek Wegrzyn is an
assistant professor and head of Computer Engineering Division at University
ofZielonaGo´ra,Poland.
His research interests focus on hardware description languages, Petri nets,
concurrent controller designs, and information technology. His recent work
includes design of dedicated FPGA-based digital systems and tools for the
automatic synthesis of programmable logic. He is a referee of international
conferencesandjournals.
Dr. Marek Wegrzyn was the 1991 recipient of the Best Young Electrical
Engineer award from District Branch of Electrical Engineering Society. As
the best student he obtained in 1989 a gold medal (maxima cum laude) from
the rector-head of the Technical University of Zielona Go´ra, a Primus Inter
Paresdiploma,andtheNicolausCopernicusAwardfromtheNationalStudent
Association. He won the National Price from Ministry of Education for the
distinguished Ph.D. dissertation (2000). He obtained several awards from the
rector-head of the University of Zielona Go´ra. He has published more than
70papersinconferencesandjournals.Hewasacoeditoroftwopostconference
proceedings.
Foreword
A set of original results in the field of high-level design of logical control
devicesandsystemsispresentedinthisbook.Theseconcerndifferentaspects
of such important and long-term design problems, including the following,
whichseemtobethemainones.
First,thebehaviorofadeviceunderdesignmustbedescribedproperly,and
some adequate formal language should be chosen for that. Second, effective
algorithmsshouldbeusedforcheckingtheprepareddescriptionforcorrectness,
foritssyntacticandsemanticverificationattheinitialbehaviorlevel.Third,the
problem of logic circuit implementation must be solved using some concrete
technological base; efficient methods of logic synthesis, test, and verification
should be developed for that. Fourth, the task of the communication between
thecontroldeviceandcontrolledobjects(andmaybebetweendifferentcontrol
devices)waitsforitssolution.Alltheseproblemsarehardenoughandcannotbe
successfully solved without efficient methods and algorithms oriented toward
computerimplementation.Someofthesearedescribedinthisbook.
The languages used for behavior description have been descended usually
from two well-known abstract models which became classic: Petri nets and
finite state machines (FSMs). Anyhow, more detailed versions are developed
and described in the book, which enable to give more complete information
concerningspecificqualitiesoftheregardedsystems.Forexample,themodelof
parallelautomatonispresented,whichunliketheconventionalfiniteautomaton
canbeplacedsimultaneouslyintoseveralplaces,calledpartial.Asabasefor
circuitimplementationofcontrolalgorithms,FPGAisacceptedinmajorityof
cases.
Hierarchical Petri nets have been investigated by Andrzejewski and
Miczulski,whoprovetheirapplicabilitytodesignofcontroldevicesinpractical
situations. Using Petri nets for design and verification of control paths is sug-
gested by Schober, Reinsch, and Erhard, and also by We¸grzyn and We¸grzyn.
Anewapproachtomodelingandanalyzingembeddedhybridcontrolsystems,
based on using hybrid Petri nets and time-interval Petri nets, is proposed by
viii Foreword
Hummel and Fengler. A memory-saving method of checking Petri nets for
deadlocks and other qualities is developed by Karatkevich. A special class of
reactivePetrinetswithmacronodesisintroducedandthoroughlyinvestigated
(Gomes, Barros, and Costa). Using Petri nets for reactive system design was
workedoutbyAdamski.
ThemodelofsequentautomatonwassuggestedbyZakrevskijfordescrip-
tionofsystemswithmanybinaryvariables.Itconsistsofso-calledsequents—
expressionsdefining“cause-effect”relationsbetweeneventsinBooleanspace
of input, output, and inner variables. A new method for encoding inner FSM
states, oriented toward FSM decomposition, is described (Kuba´tova´). Several
algorithmsweredevelopedforassignmentofpartialstatesofparallelautomata:
for using in the case of synchronous automata (Pottosin) and for the asyn-
chronous case, when race-free encoding is needed (Cheremisinova). A new
technique of state exploration of statecharts specifying the behavior of con-
(cid:1)
trollers is suggested by Labiak. Awide variety of formal languages is used in
theobject-orientedreal-timetechniquesmethod,thegoalofwhichisthespeci-
ficationofdistributedreal-timesystems(Lopes,Silva,Tavares,andMonteiro).
TheproblemoffunctionaldecompositionistouchedbyBibiloandKirienko,
who regarded it as the task of decomposing a big PLA into a set of smaller
(cid:1)
ones,andbyRawski,Luba,Jachna,andTomaszewicz,whoappliedittocircuit
implementationinCPLD/FPGAarchitecture.
Someotherproblemsconcerningthearchitectureofcontrolsystemsarealso
discussed. Architectural Description Language for using in design of embed-
dedprocessorsispresentedbyTavares,Silva,Lima,Metrolho,andCouto.The
influenceofFPGAarchitecturesonimplementationofPetrinetspecifications
is investigated by Soto and Pereira. Communication architectures of multi-
processor systems are regarded by Dvorak, who suggest some tools for their
improving. A two-processor (bit-byte) architecture of a CPU with optimized
interactionissuggestedbyChmielandHrynkiewicz.
Anexampleofapplicationofformaldesignmethodswithestimationoftheir
effectivenessisdescribedbyCaban,whosynthesizedpositionaldigitalimage
filtersfromVHDLdescriptions,usingfieldprogrammabledevices.Inanother
example,atechnologyofdevelopmentandproductizationofvirtualelectronic
components, both in FPGA and ASIC architectures, is presented (Sakowski,
Bandzerewicz,Pyka,andWrona).
A.Zakrevskij
Contents
AbouttheEditors v
Foreword vii
SectionI:SpecificationofConcurrentEmbeddedControlSystems
1. UsingSequentsforDescriptionofConcurrentDigital
SystemsBehavior 3
ArkadijZakrevskij
2. FormalLogicDesignofReprogrammableControllers 15
MarianAdamski
3. HierarchicalPetriNetsforDigitalControllerDesign 27
GrzegorzAndrzejewski
SectionII:AnalysisandVerificationofDiscrete-EventSystems
4. WCETPredictionforEmbeddedProcessorsUsinganADL 39
Adriano Tavarev / Carlos Silva / Carlos Lima / Jose´ Metrolho /
CarlosCouto
5. VerificationofControlPathsUsingPetriNets 51
TorstenSchober/AndreasReinsch/WernerErhard
6. Memory-SavingAnalysisofPetriNets 63
AndreiKaratkevich
x Contents
7. SymbolicStateExplorationofUMLStatechartsforHardware
Description 73
(cid:1)
GrzegorzLabiak
8. CalculatingStateSpacesofHierarchicalPetriNetsUsing
BDD 85
PiotrMiczulski
9. ANewApproachtoSimulationofConcurrentControllers 95
AgnieszkaWe¸grzyn/MarekWe¸grzyn
SectionIII:SynthesisofConcurrentEmbeddedControlSystems
10. OptimalStateAssignmentofSynchronousParallelAutomata 111
YuryPottosin
11. OptimalStateAssignmentofAsynchronousParallelAutomata 125
LjudmilaCheremisinova
12. DesignofEmbeddedControlSystemsUsingHybridPetriNets 139
ThorstenHummel/WolfgangFengler
SectionIV:ImplementationofDiscrete-EventSystems
inProgrammableLogic
13. StructuringMechanismsinPetriNetModels 153
Lu´ısGomes/Joa˜oPauloBarros/Aniko´ Costa
14. ImplementingaPetriNetSpecificationinaFPGAUsingVHDL 167
EnriqueSoto/MiguelPereira
15. FiniteStateMachineImplementationinFPGAs 175
HanaKuba´tova´
16. BlockSynthesisofCombinationalCircuits 185
PyotrBibilo/NataliaKirienko
17. TheInfluenceofFunctionalDecompositiononModernDigital
DesignProcess 193
(cid:1)
MariuszRawski/TadeuszLuba/ZbigniewJachna/
Pawel(cid:1)Tomaszewicz