講義資料 - SDM｜慶應義塾大学大学院 システムデザイン・マネジメント

3
SysML
[email protected]
http://lab.sdm.keio.ac.jp/nismlab/
3 KSS
2013 Mar. 6
h"p://lab.sdm.keio.ac.jp/sec/
facebook.com/groups/keio.systems.school/
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KSS
2013 Mar. 6
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2013 Mar. 6
Synthesis and Analysis
trade study
Decision making
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KSS
2013 Mar. 6
IEEE 1220 systems engineering process
SE
SE
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KSS
2013 Mar. 6
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KSS
2013 Mar. 6
××
××
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KSS
2013 Mar. 6
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Dual Vee
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SysML
SysML
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SysML
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KSS
2013 Mar. 6
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Dual Vee
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V
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2013 Mar. 6
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INCOSE: International Council on Systems Engineering
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SysML Systems Modeling Language
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KSS
2013 Mar. 6
V
(Dual Vee Model)
Architecture Vee
Entity Vee
Entity Vee
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2013 Mar. 6
V (Entity Vee)
Entity
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2013 Mar. 6
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Operational view
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Functional view
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Physical view
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KSS
2013 Mar. 6
V:
Customer Confirmation
Functional view
MATLAB/Simulink
Physical view
Verification and
Validation Planning
Customer
Confirmation
SysML
Entity
Customer
Confirmation
Operational view
Verification
Planning
Mechanical CAD
Electronic CAD
Program code
3
KSS
2013 Mar. 6
Analyze
AME Sim
Simulink
Synthesize
Modelica
1D-CAE
FE model
2
UML , SysML, OPM
4
VDM++
3
Program code
HDL: Hardware description Language
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KSS
2013 Mar. 6
3
KSS
2013 Mar. 6
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V
Architecture Vee
Entity Vee
Entity Vee
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KSS
2013 Mar. 6
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KSS
2013 Mar. 6
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(Verification & Validation)
(verification)
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Did you test what you were supposed to test?
Are We Building the Product/System Right?
(validation)
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Did you test the right things?
Are We Building the Right Product/System?
3
KSS
2013 Mar. 6
V
Customer Confirmation
Verification and
Validation Planning
Customer
Confirmation
Customer
Confirmation
Entity
Human in
the Loop
Simulation
HILS/SILS
Verification
Planning
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KSS
2013 Mar. 6
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HILS/SILS
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simulate
Human-in-the-loop Simulation
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3
KSS
2013 Mar. 6
SysML
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SysML
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Practical Guide to SysML
SysML
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Sanford Friedenthal, Alan Moore, Rick Steiner
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2012
5
10
3
KSS
2013 Mar. 6
SysML
SysML: Systems Modeling Language
SysML
3
KSS
2013 Mar. 6
SysML
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requirement diagram
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activity diagram
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sequence diagram
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state machine diagram
use case diagram
3
KSS
2013 Mar. 6
SysML
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parametric diagram
F=ma
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block definition diagram
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internal block diagram
UML
package diagram
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3
KSS
2013 Mar. 6
SysML
ibd
req
act
par
3
KSS
2013 Mar. 6
SysML
MBSE
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SysML
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SysML
3
KSS
2013 Mar. 6
3
KSS
2013 Mar. 6
MBSE
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SysML
3
KSS
2013 Mar. 6
1D-CAE
3
KSS
2013 Mar. 6
SysML
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3
KSS
2013 Mar. 6
3
KSS
2013 Mar. 6
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The Engineering Design of
Systems, - Models and Methods
-, 2nd Edition, Dennis M. Buede,
John Wiley & Sons, Inc.
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KSS
2013 Mar. 6
3
KSS
2013 Mar. 6
3
KSS
2013 Mar. 6
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KSS
2013 Mar. 6
01
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KSS
2013 Mar. 6
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ABS (Anti-lock Brake System)
TCS (Traction Control System)
…
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FACS (Front-steering Assist Control
System)
3
KSS
2013 Mar. 6
:
10 Nm
without control, 15 km/h
in control, 15 km/h
Yutaka Kamata, Hidekazu Nishimura, Hidekuni Iida System Identification and Front-Wheel Steering
Control of Motorcycle, Trans. of the JSME, Series C, Vol.69, No.688, pp.3191-3197, (2003)
Yutaka Kamata, Hidekazu Nishimura, System Identification and Attitude Control of Motorcycle by
Computer-Aided Dynamics Analysis, JSAE Review, Vol.24, No.4, pp.411-416, (2003)
3
KSS
2013 Mar. 6
Front-steering Assist
Control System
3
KSS
2013 Mar. 6
2013 Mar. 6
req [Package] System requirements [
]
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KSS
2013 Mar. 6
FACS
FACS
2013 Mar. 6
3
KSS
2013 Mar. 6
FACS
CPU
A/D
D/A
3
KSS
2013 Mar. 6
PC
3
KSS
2013 Mar. 6
 
Side view
XU
XD
Rf
Rear view ZW
ZU
e1 Karm
,C
wz
ZW
wz
Rider's
Wupper torso
a3
YW
Rider's
f1
mW W upper torso
X
U
W
hb
mU
ZC
H a1
ZA a3 a
ZD
2
mA
b1 f
X
b2
Steering A A
D c1
C
torque
mD
X
mC r
C
Z
X
O
Pf
Pr
Roll angle
angle
of motorcycle ofLean
upper torso
ZA
A
YA
x
Rolling
YA
Z
ZA
A
wx
Y W ZW
W
Cwx
wx Lean
torque
Z
Rr
Y
Kwx
O
Y O
 
xkd (k + 1) = Akd xkd (k ) + Bkd Δθ&xd (k )
Δτ (k ) = C x (k ) + D Δθ& (k )
fc
kd kd
kd
Δθx: roll rate, the feedback signal,
Δτfc: control steering torque, control output.
xd
3
KSS
delay
Rider Driving Model
−Td s
KPL e
2nd order prediction model
y* (t )
Target
y (t )
eTP s
+
2
P
T 2
s
2
Lateral
displacement
Lean
τ wx torque
Steering
y* (t + tp )
1 + TP s +
2013 Mar. 6
τ fr torque
1
( KP + KI )e−Td s
s
-
y(t + TP )
Dynamical model of
rider-motorcycle system
Time
delay Td
Prediction
time Tp
Proportional Proportional
gain KP
gain KPL
Unskilled rider
0.2 s
1.2 s
8
1.6
5
Skilled rider
0.1 s
1.5 s
5.2
1.04
4.5
3
KSS
Integral
gain KI
2013 Mar. 6
3
KSS
2013 Mar. 6
3.6 m
60 km/h
4
3.6
Roll angle [deg]
Lateral displacement [m]
25 Nm, 0.7 s 0.88 s
0.7 s
1.0 s
2
0
0
2
4
6
Time [s]
8
10
3
KSS
30
20
10
0
-10
-20
-30
0 1 2
4
6
Time [s]
8
10
2013 Mar. 6
Dual Vee
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MBSE
)
SysML
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3
KSS
2013 Mar. 6
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Systems Engineering Handbook Ver.3.2, INCOSE, 2010
 
Visualizing Project Management, Third Edition
Kevin Forsberg, Hal Mooz, Howard Cotterman, John Wiley & Sons, Inc.
A Practical Guide to SysML
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Sanford Friedenthal, Alan Moore, and Rick Steiner, The Morgan
Kauffman OMG Press
SysML A Practical Guide to SysML
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5
10
The Engineering Design of Systems, - Models and Methods -, 2nd Edition
 
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2012
Dennis M. Buede, John Wiley & Sons, Inc.
SysML
Vol.46, No.5, pp.241-246, (2011)
3
KSS
2013 Mar. 6
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Kenichi Seki, Hidekazu Nishimura, Kosuke Ishii, Laurent Balmelli, Thermal/
Acoustic Trade-off Design for Consumer Electronics in A Distributed Design
Environment, Proceedings of The 19th Annual International Symposium of
INCOSE, (2009), 0723.pdf.
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Kenichi Seki, Hidekazu Nishimura, Shaopeng Zhu, Laurent Balmelli, A
Parametric Design Framework to Support Structural and Functional
Modeling of Complex Consumer Electronics Products, International
Conference on Engineering Design 2011
Kenichi Seki, Hidekazu Nishimura, A module-based thermal design approach
for distributed product development, Research in Engineering Design, DOI:
10.1007/s00163-011-0113-x
,
,
, Laurent Balmelli,
SysML
DSM
Vol. 78, No. 785, pp.
187-200 (2012)
3
KSS
2013 Mar. 6
3 KSS
2013 Mar. 6