Integration Of System-level Modeling And Simulation Of Multi-domain Complicated Mechatronic Product In SysML

As the complexity of mechatronic systems increasing, system-level design has become an indispensable phrase of the complicated mechatronic system (CMS) development. Model-based systems engineering (MBSE) and its standard modeling language, SysML, have provided certain support for system-level design. However, because of the specific characteristics of the CMS, the general SysML cannot be used directly for its modeling. In this paper, motivated by the requirements of CMS design, a relatively complete solution is proposed for system modeling and simulation of the CMS.In this paper, we firstly analyze the requirements of CMS modeling, i.e. hybrid behavior modeling, multi-domain modeling and automated design validation. Then, we discuss the problems of the existing SysML-based modeling methods, and introduce the ideas of our approach.The behavior of the CMS includes three types:time-continuous dynamic behavior, discrete event-based behavior and hybrid behavior. Moreover, it involves multi-domain subsystems'interconnection. Considering these characteristics of the CMS, the Uniform Behavior Modeling Language (UBML) which is extended from SysML is proposed. In this language, the Sequenced Parametric Diagram (SPD) and the hybrid behavior modeling profile are proposed to provide support for hybrid behavior modeling, based on which, the behavior of the control and physical subsystems can be modeled according to the IEC 61499 standard and system dynamics theory. In UBML, the hierarchical multi-view uniform behavior model can be created.Since the system design model of CMS could be very complex, it's difficult to validate the correctness of the design only based on the static model. To support dynamic validation of the design model, in this paper, the Triple Graph Grammar (TGG)-based model transformation approach is adopted, which builds bidirectional correspondences between the UBML and the simulation modeling language. Then, the UBML behavior model can be transformed to the simulation model automatically, which provides support for automatic simulation of the design model.To support the approach presented above, the UBML modeling profile and UBML-Simulation model transformation tool are built. Using these tools, the CMS modeling and simulation process is implemented and illustrated by the Inverted Pendulum System example.