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

Number: 11366945
Published: 2022-06-21
Filed: 2021-05-03
Assignee: Disney Enterprises, Inc.
Inventors: Milluzzi; Andrew Jesse, Marra, III; Robert Joseph, Hofer; Christopher Carl, Corpuz; Jose Lugos
CPC: G05B19/05; G05B17/02; G06F30/3308; G06F30/20
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 method of testing a controller of a real-world system, comprising: communicatively coupling a simulator assembly for the real-world system, a simulation GUI, and the controller of the real-world system; first communicating data from the simulator assembly to the simulation GUI for processing for user visualization; and second communicating data from the controller of the real-world system to the simulator assembly to simulate operations of the real-world system, wherein the first and second communicating are performed based on a real world clock at predefined time intervals. || 7. A method of testing a controller of a system, comprising: communicatively coupling a simulator assembly for the system, a simulation GUI, and the controller of the system; first communicating data from the simulator assembly to the simulation GUI for processing for user visualization; and second communicating data from the controller of the system to the simulator assembly to simulate operations of the system, wherein the first communicating comprises providing a simulation interface communicatively linking the simulation GUI with a data structure storing data output from the simulator assembly and control signals from the controller. || 14. A method for testing a real-world control system, comprising: providing a communication link with a software-based real-time hub that is adapted for communicatively coupling with the real-world control system to provide a real-time I/O network for the real-world control system; with a simulator in communication with the software-based real-time hub, simulating operations of a system controllable by the real-world control system; and with the software-based real-time hub, controlling communications between the simulator and the real-world control system by storing data and transmitting the data with timing controlled by a timing engine, and wherein the communication link appears to the control system to be a communications link to the real-world system controllable by the control system.