File preview
Cyberphysical System Topics in an Embedded Control Class at the University of Michigan
J. S. Freudenberg and J. A. Cook EECS Dept., University of Michigan Ann Arbor MI 48109
jfr@umich.edu jeffcook@umich.edu
Embedded Control Systems
• Background:
– University of Michigan and Ford Motor Company, 1998 (Dr. Ken Butts) – Control engineers and computer engineers: Why can’t they talk to each other?
• Characteristics:
– Interface with external environment – Real time critical – Hybrid behavior – Distributed, networked control
!
Cyber-Physical Systems
1
Outcome: Two Courses
• UofMichigan: EECS 461, Embedded Control Systems
– 11 years as regular course – 150+ students/year – Student body: • EE and CE seniors and some grads • occasional grads from Mechanical, Civil, Aerospace, Biomedical, Naval Architecture and Marine Engineering
• ETH Zurich: Embedded Control Systems
– five years as an intensive two week block course – 33 students/year – Student body: • Mechanical Engineering Graduate Students
2
Industry Trends
Harvard Business Review, 2010:
2005
2009
2010
“GM's biggest engineering recruiting challenges are software and controls engineering”
Detroit Free Press, October 2012
3
Embedded Control Lab: UM and ETH
4
Haptic Interface
behavior sensor (taction and kinesthesia) position velocity force sensor (encoder)
Human
actuators (muscles)
Haptic Device CPU
algorithm (virtual environment)
force actuator (DC motor)
!
Cyber-Physical-Physiological System
5
UM Project: Adaptive Cruise Control
• Driving simulator • Bicycle model of vehicle • 6 vehicles interacting over CAN network • Lane centering • ACC algorithm: 3 states
– manual (sliding pot) – constant speed – constant distance
f() Trigger
enable Desired Speed ring angle) radians ual_torque (throttle) (s,n,psi,us)1..5 enable Force desired speed steering angle throttle delta (s,n,psi,us)1..5 s,n,psi,us u Steering Actuator Torque
Force Steering Torque
Steering Torque
delta
s,n,psi,us
s,n,psi,us(s,n,psi,us)1...6
1 (s,n,psi,us)1...6
C_INPUTS
Steering Actuator Torque u
(s,n,psi,us)1..5
C_ACC
P_CAR
C_OUTPUTS
10
Controller Block Diagram
11
Embedded
Control
Enrollment:
UM
and
ETH
250
200
150
students
Fall
(ETH)
Spring
(EECS
461)
Winter
(EECS461)
100
Fall
(EECS
461)
Fall
(EECS
498)
50
0
00-‐01
01-‐02
02-‐03
03-‐04
04-‐05
05-‐06
06-‐07
07-‐08
08-‐09
09-‐10
10-‐11
11-‐12
12-‐13*
Academic
Year
Total
Enrollment:
1200+
12
J. S. Freudenberg and J. A. Cook EECS Dept., University of Michigan Ann Arbor MI 48109
jfr@umich.edu jeffcook@umich.edu
Embedded Control Systems
• Background:
– University of Michigan and Ford Motor Company, 1998 (Dr. Ken Butts) – Control engineers and computer engineers: Why can’t they talk to each other?
• Characteristics:
– Interface with external environment – Real time critical – Hybrid behavior – Distributed, networked control
!
Cyber-Physical Systems
1
Outcome: Two Courses
• UofMichigan: EECS 461, Embedded Control Systems
– 11 years as regular course – 150+ students/year – Student body: • EE and CE seniors and some grads • occasional grads from Mechanical, Civil, Aerospace, Biomedical, Naval Architecture and Marine Engineering
• ETH Zurich: Embedded Control Systems
– five years as an intensive two week block course – 33 students/year – Student body: • Mechanical Engineering Graduate Students
2
Industry Trends
Harvard Business Review, 2010:
2005
2009
2010
“GM's biggest engineering recruiting challenges are software and controls engineering”
Detroit Free Press, October 2012
3
Embedded Control Lab: UM and ETH
4
Haptic Interface
behavior sensor (taction and kinesthesia) position velocity force sensor (encoder)
Human
actuators (muscles)
Haptic Device CPU
algorithm (virtual environment)
force actuator (DC motor)
!
Cyber-Physical-Physiological System
5
UM Project: Adaptive Cruise Control
• Driving simulator • Bicycle model of vehicle • 6 vehicles interacting over CAN network • Lane centering • ACC algorithm: 3 states
– manual (sliding pot) – constant speed – constant distance
f() Trigger
enable Desired Speed ring angle) radians ual_torque (throttle) (s,n,psi,us)1..5 enable Force desired speed steering angle throttle delta (s,n,psi,us)1..5 s,n,psi,us u Steering Actuator Torque
Force Steering Torque
Steering Torque
delta
s,n,psi,us
s,n,psi,us(s,n,psi,us)1...6
1 (s,n,psi,us)1...6
C_INPUTS
Steering Actuator Torque u
(s,n,psi,us)1..5
C_ACC
P_CAR
C_OUTPUTS
10
Controller Block Diagram
11
Embedded
Control
Enrollment:
UM
and
ETH
250
200
150
students
Fall
(ETH)
Spring
(EECS
461)
Winter
(EECS461)
100
Fall
(EECS
461)
Fall
(EECS
498)
50
0
00-‐01
01-‐02
02-‐03
03-‐04
04-‐05
05-‐06
06-‐07
07-‐08
08-‐09
09-‐10
10-‐11
11-‐12
12-‐13*
Academic
Year
Total
Enrollment:
1200+
12