Modeling scenarios to control dynamic objects based on the graphical language X-Robot

Authors: Dmitriev V. M., Gandzha T. V., Bukreev A. S.

Annotation: As the number of function of dynamic object increases, the algorithm that controls devices becomes more complex. Also, programs written in low-level programming languages of controllers are increasing, that complicates the process of their debugging. The urgency of the development of new means for the formation and modeling of controller operation scenarios is due to the need to take into account many observable variables and the use of a number of control action, but also determined by the non trivial character of the algorithms to operate controllers. The article discusses the principles of modeling scenarios to control dynamic objects with the use of graphical notations of X-Robot language. In addition to the traditional text representation of a program called a script, a graphic interpretation has been proposed and developed for this language, setting a certain component for its commands. Graphical scenario formation is carried out in the environment of computer simulation MARS at the logical level of a multi-level computer model, at the object level of which the models of a controlled dynamic object are located with the models of executive and measuring devices included in it. This opens up the possibility of forming control scenarios in a graphical form and their preliminary debugging on the model of a dynamic object. At the visual level of the multi-level computer model, control components are located, through which the user has the opportunity to influence the model of the object and the scenario model, as well as the visualization components that display the visualization data for the user, which can be either the values of the observed object variables, or and their generalized parameterfunctionals. At present, the developed graphical language for modeling scenarios is adapted to the X-Mega controller, but studies are underway to develop it and apply it to other types of controllers.

Keywords: component, controller, scenario, dynamic object, multilevel computer model