Abstract
Mechatronic systems are a class of cyber-physical systems, whose increasing complexity makes their validation and verification more and more difficult, while their requirements become more challenging. This paper introduces a development method based on model-based design, co-simulation and formal verification. The objective of this paper is to show the applicability of the method in an industrial setting. An application case study comes from the field of precision servo-motors, where formal verification has been used to find acceptable intervals of values for design parameters of the motor controller, which have been further explored using co-simulation to find optimal values. The reported results show that the method has been applied successfully to the case study, augmenting the current model-driven development processes by formal verification of stability, formal identification of acceptable parameter ranges, and automatic design-space exploration.
Highlights
Mechatronic [1] systems are constantly growing in complexity and widening their fields of application, and require higher and higher levels of dependability and performance
We present an application of formal verification, co-simulation and design-space exploration (DSE), to a case study of practical interest, a servo drive for permanent magnet synchronous motors
This paper aims at showing how formal verification and co-simulation can be introduced in the design process to achieve more confidence in the system’s compliance with requirements and to assist the designer in choices that would otherwise be based on rules of thumb and trial-and-error procedures
Summary
Mechatronic [1] (and, more generally, cyber-physical) systems are constantly growing in complexity and widening their fields of application, and require higher and higher levels of dependability and performance. System validation by simulation and testing should be complemented with rigorous analysis and verification methods, leading to a formal-verification-in-the-loop [2]. This concept is the basis of the development process presented in this work. The process assumes a high-level specification, typically in natural language or some semi-formal language, from which a set of submodels is derived. The PVS is an interactive theorem prover environment based on a typed higher-order logic language and a sequent calculus deduction system [33], provided with a rich, extendable type system. The PVS language has arithmetic and logic types, and structured types, including record types and predicate subtypes. The specification of a particular motor may include the definition of physical magnitudes, possibly with the acceptable ranges of values: electric_motor_th: THEORY
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