关键词: 网络化控制系统, 协同设计, 形式化建模, 统一建模语言, 网络服务质量, 控制性能质量

Abstract: To satisfy the performance requirements of Networked Control System (NCS) and standardize its design process, the design procedure of NCS was formally modeled. The sub-model definitions of network, control, and structural entity in NCS were given. The components of the three sub-models and the mappings among them were analyzed. Then, a co-design framework was proposed based on network Quality of Service (QoS) and Quality of Control Performance (QoCP). Unified Modeling Language (UML) was adopted to design structural entity sub-model. Concept and construction of classes in NCS modeling were analyzed, attributes and methods of classes were extended as well as the general modeling procedure was summarized. Finally, feasibility of the proposed co-design framework and formal modeling procedure was demonstrated in a networked three-axis Computer Numerical Control (CNC) drillpress design process.

Key words: networked control system, co-design, formal modeling, unified modeling language, quality of service, quality of control performance