Method for building a real-time control system with mode and logical rate
First Claim
1. A method of defining modes of operation for, and mapping said modes through, a hierarchical system, wherein said hierarchical system comprises a multi-level hierarchy, with a set of components at each level, said method comprising defining one or more modes at each level bya. identifying an intuitive name for a mode;
- and b. choosing a subset of said set of components in said level; and
c. choosing a sub-mode for each chosen component, so that said mode is defined by the sub-modes of the chosen components, where in the simplest (end condition) case, said sub-mode indicates if the component is active or not, whereby when said level is executing in said mode, only active components will execute. d. Repeating steps a-c until modes defined at any level in the hierarchy are mapped to sub-modes down the hierarchy, whereby when said hierarchy is executing, only active components will execute throughout the hierarchy.
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Abstract
A development tool combines advantages of a simulation tool with an object-oriented modeling tool, including a real-time mathematical matrix library and an object model. The tool is applicable to any intelligent control system. A composite object group (COG) contains both sampled-data and event-driven capabilities. Mapping the computing resources of a computing device throughout the hierarchy of a control system is provided for modes, executable programs and threads of a processor. Within a given processor, each component of a control system may be assigned to individual execution threads within that processor simply by naming a thread.
243 Citations
23 Claims
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1. A method of defining modes of operation for, and mapping said modes through, a hierarchical system, wherein said hierarchical system comprises a multi-level hierarchy, with a set of components at each level, said method comprising defining one or more modes at each level by
a. identifying an intuitive name for a mode; - and
b. choosing a subset of said set of components in said level; and
c. choosing a sub-mode for each chosen component, so that said mode is defined by the sub-modes of the chosen components, where in the simplest (end condition) case, said sub-mode indicates if the component is active or not, whereby when said level is executing in said mode, only active components will execute. d. Repeating steps a-c until modes defined at any level in the hierarchy are mapped to sub-modes down the hierarchy, whereby when said hierarchy is executing, only active components will execute throughout the hierarchy. - View Dependent Claims (2, 3, 4, 5, 6, 7)
switching from said mode to a different mode while said control system is executing;
deactivating those components that correspond to said mode; and
activating those components that correspond to said different mode.
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8. A method of mapping a thread of a processor to components within a control system, wherein said control system comprises a plurality of components in a multi-level hierarchy, said method comprising:
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a. defining one or more logical rates of execution at each level in said multi-level hierarchy;
b. for each component in a level of said multi-level hierarchy, assigning said component to one or more of said logical rates; and
c. mapping said thread of said processor to one or more of said logical rates, thus mapping said thread through said multi-level hierarchy, resulting in a system of components, executing at the actual execution rate of said thread. - View Dependent Claims (9, 10, 11, 12)
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13. A method of defining an executable image for a multi-level hierarchy control system comprising a plurality of components, said method comprising
a. choosing a subset of said components to correspond to said executable image; -
b. identifying a name for said executable image and its corresponding subset of said components; and
c. for each chosen component in said subset, indicating that said component is part of said executable image for said multi-level hierarchy control system, whereby when said executable image is produced for said multi-level hierarchy control system, only said subset of said components that correspond to said executable image will be included. - View Dependent Claims (14, 15, 16, 17, 18)
a. loading components corresponding to said executable image into a real-time computer; and
b. executing said executable image on said real-time computer.
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18. A method as recited in claim 13 whereby multiple executable images are generated, each destined for a different particular computer.
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19. A method of defining an executable image for a control system, wherein said control system comprises a multi-level hierarchy, said method further comprising:
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a. defining at least one logical executable name or designator at each level;
b. choosing a subset of components at each level to correspond to each said logical executable name;
c. for each chosen component in each subset, indicating that said component is part of said logical executable name;
d. continuing this process throughout the hierarchy, thus assigning components to logical executable names at each level; and
e. mapping said executable image to said logical executable names throughout said multi-level hierarchy such that only the subset of said components assigned to the mapped said logical executable names will be included in the executable image. - View Dependent Claims (20, 21, 22, 23)
a. loading components corresponding to said executable image into a real-time computer; and
b. executing said executable image on said real-time computer.
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23. A method as recited in claim 19 whereby multiple executable images are generated, each destined for a different particular computer.
Specification