Simulation Engineering

Build Better Embedded Systems Faster

Jim Ledin

304 pages, parution le 01/10/2001

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Résumé

Simulation Engineering describes the methods of dynamic system simulation from the ground up. Important techniques are presented, beginning with the fundamentals of mathematical models — how to produce useful results, how to analyze and visualize data, and how to verify and validate models. In addition to step-by-step instructions for developing working simulations, the author discusses determining when simulation is appropriate, managing the cost of simulation, and communicating results. The final chapter provides an overview of current tools available for model development, digital simulation, and HIL simulation, such as ARTS, ADI Simsystem, and Matlab/Simulink.

Build complex embedded systems faster and with lower costs by:

Knowing when and how much simulation testing is appropriate.
Applying engineering methods to simulation design and development.
Using the best tools available to develop simulations.
Validating the simulation as an accurate representation of the system.
Analyzing and effectively communicating results to management.
Using simulation to reduce expensive system testing. Managing the costs of simulation development and testing.

Simulation veteran Jim Ledin delivers step-by-step instructions on the entire range of simulation techniques, and gives sage insight into the related management issues. You learn about simulation from the ground up - beginning with the fundamentals of mathematical models and progressing through detailed instructions and application examples of working simulations. Practice exercises reinforce your ability to apply the techniques to a variety of problems.

Simulation novices will gain an understanding of the principles of simulation so they can effectively use commercial simulation tools like Simsystem,VisSim, and MATLAB/Simulink.

Experienced engineers will learn details of implementing non-real-time and hardware-in-the-loop (HIL) simulations, as well as hone their skills in configuration management and simulation results analysis.

Engineering managers will learn the value of simulation as a part of the product development process and its importance to the bottom line.

Contents

Preface ..... ix

Chapter 1: Simulation Engineering ..... 1

1.1 Introduction ..... 1
1.2 Embedded Systems ..... 2
1.3 Simulation ..... 4
1.4 Complex Products ..... 5
1.5 Short Development Cycle ..... 7
1.6 Improved Quality ..... 8
1.7 Lower Total Cost ..... 9
1.8 Resistance Against Simulation ..... 11
1.9 Simulation Planning ..... 12: 1.9.1 The Waterfall Development Model ..... 12; 1.9.2 The Iterative Development Model ..... 13
1.10 Source Code and Examples ..... 15: 1.10.1 Dynamic System Simulation Library ..... 15; 1.10.2 Simulink Examples ..... 18
1.11 Chapter Overview ..... 19

Chapter 2: Modeling Dynamic Systems ..... 21

2.1 Introduction ..... 21
2.2 Dynamic Systems ..... 22: 2.2.1 Continuous-Time Systems ..... 22; 2.2.2 Discrete-Time Systems ..... 27
2.3 Mathematical Modeling ..... 28: 2.3.1 Level of Model Complexity ..... 30
2.4 Modeling Methods ..... 31: 2.4.1 Physics-Based Modeling: A Simple Pendulum Example ..... 31; 2.4.2 Linearization of Nonlinear Models ..... 35; 2.4.3 Empirical Modeling ..... 37
2.5 Rigid Body Motion in Three-Dimensional Space ..... 53: 2.5.1 Two-Dimensional Motion ..... 54; 2.5.2 Three-Dimensional Motion ..... 55
2.6 Stochastic Systems ..... 64 Exercises ..... 69

Chapter 3: Non-Real-Time Simulation ..... 73

3.1 Introduction ..... 73
3.2 The User Interface ..... 74
3.3 Model Issues ..... 74
3.4 Configuration Management ..... 75
3.5 Integration Algorithms ..... 76: 3.5.1 Euler Integration Algorithms ..... 77; 3.5.2 Higher Order Implicit Integration Algorithms ..... 79; 3.5.3 Adams-Bashforth Integration Algorithms ..... 80; 3.5.4 Runge-Kutta Integration Algorithms ..... 82; 3.5.5 Variable Step Size Integration Algorithms ..... 83; 3.5.6 Integration Errors ..... 84; 3.5.7 Integration Algorithm Stability ..... 91; 3.5.8 Stiff Systems ..... 93; 3.5.9 Combined Discrete-Continuous Systems ..... 94
3.6 Initial Conditions, Driving Signals, and Stopping Conditions ..... 95
3.7 Data Collection and Storage ..... 96
Exercises ..... 98

Chapter 4: HIL Simulation ..... 103

4.1 Introduction ..... 103
4.2 HIL Simulation Design ..... 105
4.3 Real-Time Simulation ..... 107
4.4 HIL Simulation Implementation ..... 108: 4.4.1 Non-Real-Time Operations ..... 108; 4.4.2 Short Integration Step Times ..... 110; 4.4.3 Slow Model Algorithms ..... 111; 4.4.4 Slow Simulation Processor ..... 112
4.5 Analog I/O Error Sources ..... 112: 4.5.1 Aliasing ..... 113; 4.5.2 DAC Zero-Order Hold ..... 116
4.6 Computing Hardware and I/O Devices ..... 118
4.7 HIL Simulation Software Structure ..... 119
4.8 Multiframing ..... 121: 4.8.1 Multiframing in a Single Task with No Fast-Frame I/O ..... 122; 4.8.2 Multiframing in a Single Task with Fast-Frame I/O ..... 124; 4.8.3 Multiframing Using Multiple Tasks ..... 126
4.9 Integrating and Debugging HIL Simulations ..... 128
4.10 When to Use HIL Simulation ..... 131
Exercises ..... 132

Chapter 5: Distributed Simulation ..... 135

5.1 Introduction ..... 135
5.2 TCP/IP ..... 137: 5.2.1 TCP/IP Transport Protocols ..... 139
5.3 Protocols for Distributed Simulation ..... 141
5.4 Communication Latency and fitter ..... 143
5.5 The HLA Standard ..... 145
5.6 Internet Game Protocols ..... 149
5.7 Real-time Simulation Protocol ..... 149: 5.7.1 RTSP Example Federation ..... 152
Exercises ..... 170

Chapter 6: Data Visualization and Analysis ..... 173

6.1 Introduction ..... 173
6.2 Immediate Displays ..... 174
6.3 Plotting Tools ..... 177
6.4 Animation ..... 178
6.5 Automated Analysis and Reporting ..... 179
6.6 Data Analysis Techniques ..... 181: 6.6.1 Example Simulation ..... 181; 6.6.2 Graphical Techniques ..... 184; 6.6.3 Theil Inequality Coefficient ..... 191; 6.6.4 Example Application of the Theil Inequality Coefficient ..... 193
Exercises ..... 201

Chapter 7: Verification, Validation, and Accreditation ..... 203

7.1 Introduction ..... 203
7.2 Verification and Validation ..... 206: 7.2.1 Informal Verification Techniques ..... 206; 7.2.2 Static Verification Techniques ..... 209; 7.2.3 Dynamic Verification and Validation Techniques ..... 211
7.3 Accreditation ..... 218
7.4 VV&A Plans and Reports ..... 219
Exercises ..... 221

Chapter 8: Simulation Throughout the Development Cycle ..... 223

8.1 Introduction ..... 223
8.2 Requirements Definition ..... 223
8.3 Preliminary Design ..... 226
8.4 Detailed Design ..... 227
8.5 Prototype Development and Testing ..... 229
8.6 Product Upgrades ..... 234
8.7 Fielded System Problem Analysis ..... 236
Exercises ..... 237

Chapter 9: Simulation Tools ..... 239

9.1 Desired Simulation Tool Characteristics ..... 240
9.2 Dynamic System Simulation Products ..... 241: 9.2.1 C++/DSSL ..... 241; 9.2.2 MATLAB/Simulink ..... 249; 9.2.3 VisSim ..... 257; 9.2.4 MATRIXX SystemBuild ..... 263; 9.2.5 20-sim ..... 271
9.3 Other Software Tools ..... 280: 9.3.1 DESIRE ..... 280; 9.3.2 Dymola ..... 280; 9.3.3 EASY5 ..... 280; 9.3.4 SD/FAST ..... 281; 9.3.5 EngineSim ..... 281
9.4 Real-Time Simulation Computing Systems ..... 282: 9.4.1 ADI Simsystem ..... 282; 9.4.2 dSpace ..... 282
Exercises ..... 282

Glossary ..... 285

Appendix A: Answers to Selected Exercises ..... 293

Chapter 2 ..... 293

Chapter 3 ..... 294

Chapter 6 ..... 294

Index ..... 295

L'auteur - Jim Ledin

Jim Ledin, P.E., is an electrical engineer providing simulation-related consulting services. Over the past 18 years, he has worked on all phases of non-real-time and hardware-in-the-loop (HIL) simulation in support of the testing and evaluation of air-to-air and surface-to-air missile systems at the Naval Air Warfare Center in Point Mugu, Calif. He also served as the principal simulation developer for three HIL simulation laboratories for the NAWC. Jim has presented at ADI User Society international meetings and the Embedded Systems Conference, and has written for Embedded Systems Programming magazine and Dr. Dobb's Journal. He can be reached at jim@ledin.com or through the Ledin Engineering Web site at www.ledin.com.

Caractéristiques techniques

	PAPIER
Éditeur(s)	Mc Graw Hill
Auteur(s)	Jim Ledin
Parution	01/10/2001
Nb. de pages	304
Format	18,6 x 23,5
Couverture	Broché
Poids	681g
Intérieur	Noir et Blanc
EAN13	9781578200801