Soft-real-time hub providing data transport for processor-in-the-loop (PIL) simulations

Number: 11010510
Published: 2021-05-18
Filed: 2019-04-30
Assignee: Disney Enterprises, Inc.
Inventors: Hofer; Christopher Carl, Marra, III; Robert Joseph, Milluzzi; Andrew Jesse, Corpuz; Jose Lugos
CPC: G06F30/20; G05B17/02; G06F30/3308; G05B19/05
Verdict: High Notable software
Source: Google Patents · FreePatentsOnline

The keeper's note

Real-time data hub for PIL robotics/control simulation (granted).

Abstract

A software-based (“soft”) real-time hub designed and implemented for use in simulation (or control testing) systems such as to provide a modular soft-real-time PIL. A simulation system of the present description typically may include one or more of the following useful subsystems or components: (a) a soft-real-time hub; (b) simulation interfaces; and (c) hardware emulation subsystems/devices. The soft-real-time hub is typically a combination of hardware and software adapted to provide deterministic data transport between simulations and input/output (I/O) emulation. By creating a common point, the hub enables simulation modules to be swapped out as the simulation system progresses without the operator having to worry about interface timing, forcing, or data visualization. A desirable aspect of the simulation system is it allows for testing certain conditions by forcing I/O and then seeing how the controller or system under testing responds.

Background

BACKGROUND 1. Field of the Description (1) The present description relates, in general, to systems and methods for testing control systems and/or control software including using processor-in-the-loop (PIL) simulations, and, more particularly, to methods and systems for providing software-based (or “soft”) real-time data transport for PIL simulations with a soft-real-time hub, which may also be labeled a real-time data interconnection hub (or, more simply a real-time hub or “RTHub”). 2. Relevant Background (2) There are many situations in which it is desirable to thoroughly and accurately test control systems including controller software. For example, amusement parks may create complex ride systems with correspondingly complex controllers, and it is useful to test operations of each controller to ensure its effectiveness in controlling the ride systems. Similarly, show systems may be provided along the length of the ride or about the travel path of its vehicles, and it is desirable to test operations of each controller used to operate the show system to verify that the show is properly provided by control of the show systems. Further, nearly any cyber-physical system may benefit from effective testing such as autonomous navigation, automated manufacturing, and aerospace systems. (3) One common technique for testing control systems and controllers/controller software is through the use of PIL simulations. PIL simulations leverage simulated data and a production processor (e.g

Claims

1. A processor-in-the loop (PIL) system for testing a real-world control system, comprising: a simulation computer; on the simulation computer, a software-based real-time hub comprising memory and a timing engine; an input and output (I/O) interface emulation providing a communication link with the software-based real-time hub and adapted for communicatively coupling with the control system to provide a real-time I/O network for the control system; and a simulator, in communication with the software-based real-time hub, simulating operations of a system controllable by the control system, wherein the software-based real-time hub controls communications between the simulator and the control system by storing data in the memory and transmitting, via the I/O interface emulation, the data with timing controlled by the timing engine, and wherein the I/O interface emulation appears to the control system to be a communications link to the system controllable by the control system. || 9. A processor-in-the loop (PIL) system for testing a non-emulated control system, comprising: a hub; an input and output (I/O) interface to the hub communicatively coupling the control system to the hub; a simulator, in communication with the hub, simulating operations of a system controllable by the control system, wherein the hub controls timing of data transfer between the simulator and control system, and wherein the timing emulates a real-time network connection between the control system and the system controllable by the control system, the timing being adjustable based on user input to simulate different operating conditions for at least one of the system controllable by the control system and the real-time network connection. || 15. A processor-in-the loop (PIL) system for testing a control system, comprising: a timing engine; an input and output (I/O) interface emulation providing a communication link with a real-time hub and adapted for communicatively coupling with the control system to provide a real-time I/O network for the control system; and a simulator, in communication with the real-time hub, simulating operations of a system controllable by the control system, wherein the real-time hub controls communications between the simulator and control system by storing data and transmitting the data with timing controlled by the timing engine, and wherein the timing is dynamically updated by the timing engine querying processor speed to determine an amount of cycles to count, first performing a cycle count to determine a first waiting period and then triggering a read signal to each connector controlled by the real-time hub, and second performing a cycle count to determine a second waiting period and then triggering a write signal to each connector controlled by the real-time hub.