astrodynamics tools and techniques -...

2nd ESA Workshop on Astrodynamics Tools and

Techniques

Fred van Lieshout – Dutch Space B.V.

Prepared by: Slide 12nd ESA Workshop on Astrodynamics Tools and Techniques

Introduction

w History

w What is EuroSim?

w Scope

w Applications

w EuroSim simulator development life cycle


History

w Initially developed by Dutch Space (Fokker Space).

w On-going development as joint effort by EuroSim consortium partners:- Dutch Space,- NLR,- Atos Origin.

w Early releases only available on IRIX (SGI) platform.

w Port to Linux and Windows NT platforms.


What is EuroSim?

w A set of tools that support all phases of space andnon-space programs through real-time simulations

w Supports person and/or hardware-in-the-loop

w Allows re-use of existing model software


Users

Hardwarein-the-loop

ApplicationModel SW

EuroSimSW Libraries

OperatingSystem & Device Drivers

Computer Hardware

Manin-the-loop

ConfigurableOperator Deck

Eur

oSim

Too

ls

Scope

APIGUI


Applications

w Mission Preparation and Training Equipment (MPTE) for the European Robotic Arm (ERA)

w Automated Transfer Vehicle (ATV) Test Facilities

w Grid assist (OASE)

w Herschel/Planck

w Virtual Spacecraft Reference Facility (VSRF)

w European Drawer Rack (EDR)

w And many more… (see www.eurosim.nl)


Simulator developmentlife cycle

Project Management

ModelEditor

ScheduleEditor

Simulation Controller

Test Analyzer

Development Preparation and Execution Analysis

dictionary

schedules executable

simulationresults

Model code


What is a Model

Organizational nodes

File nodes

Entry nodes

Variable nodes

File properties

Model Editor window

LoggingWindow


Editing the API

API selector

Parameter indicator Minimum and Maximum bounds unit

Initial valuein source

Descriptionfield

output of source parsing


Simulator Development TasksPart 4: defining schedule

Create modelframework

Attach files toframework

Include APIcalls Identify API

items

Buildtasks

Defineschedule

Buildsimulator

Create Schedule• defining tasks from API entrypoints• combining tasks with timing information and events

Purpose:• achieve Real-Time, parallel Simulation• achieve requested changes in Simulator State


state trigger activated scheduling graph standby standby

executing executing init initialising stop exit reset exit, followed by initialising

Scheduling Tasks and Simulation States

UNCONFIGURED

STANDBY

EXECUTING

abort

abort go

pause

resetINIT STOP

EuroSim States and Transitions

Steady States

Transition States

Relations between states, triggers and scheduling graphs


Schedule - initialization

Schedule Editor Window: Initializing State

Predefined input events:• External Interrupt• Notice• Warning• Error• Fatal• State Entry• State Exit• RT error• RT mode entry• NRT mode entry

Predefined output events:• Initialize• Pause• Go• Abort• Reset• Stop• Quit• RT mode• NRT mode

Input event Output eventTask


Scheduling of Tasks

Task:zero or moreentrypoints

Frequencychanger

Externalevent

Timers

Asynchronous Store


Task Characteristics

Task Dialog Window

API Entrypoints

List of Entrypointsin task

Re-ordering

Derived fromschedule


Scheduler Timing

Basic Cycle (5ms)

P1

P2

P3

P0

Processor

Realtime

NonRealtime

Schedule Configuration:Frequency 200HzProcessors: 3

2Hz/15ms100Hz/10ms

InternalEvent

ExternalEvent


Test preparation and execution

Project Management

ModelEditor

ScheduleEditor


Test Analyzer


dictionary


simulationresults

Model code


Test Preparation and Execution tasks

Create emptymission

Reference to a model

Reference toa schedule

DefineActions

DefineInit condition

Executing

•Recording•Stimuli•Scripts

Link to modeldefinition (API)

To run a simulation Initial state

of the model

DefineMMI


Simulation Controller Overview

Simulation Controller overview: Input Files tab page

Various Tab Pages

Execution Controls

The Message Pane

Input Files tab page:for Simulation definition


Scenarios:Creating MDL scripts

Script Action Editor

DictionaryBrowser

(ref: SUM Appendix E Model Definition Language)


Recorders

DictionaryBrowser

Recorder Action Editor


Stimuli files

.stim file

.rec fileDictionaryBrowser

Stimuli Action Editor

time data0.9 101.9 152.9 173.9 194.9 205.9 18

simtime Zat 0.5 Hz0 102 154 176 19

simtime Zat 0.5 Hz0 02 154 196 18

soft hard

stimuli


Creating Monitors and MMI’s(MMI tab page)

MMI tab page

MMI tab page

.mmi file

Run-timemessages window

(on-line) Monitors


Simulation Execution

Heater=off

raiseheater failure

Simulator

Simulation

DataDict

initresetgo

pausestopabort

On-LineMonitoring

DataRecording

StimuliData Files

On-LineInteractions

Schedule


Output files

During a simulation run files are generated:

wJournal File

wTimings file

wRecording file(s)

wTest result file

Created in directory with a name like 2002-07-18/23:33:17, which includes the date and time of simulation run


Test Analysis

Project Management

ModelEditor

ScheduleEditor


Test Analyzer


dictionary


simulationresults

Model code


================================================================Sim: thermo.simUser: qw75503, Test ConductorSimulation: non realtimeHostname : troiDate of test: Fri Jul 19 12:03:21 MDT 2002================================================================/projects/spades/users/quirien/EUROSIMCURSUS/EfoCourse/model/thermo.IRIX64/thermo.dict with loader valuesstartup message: async-main applying default settings from datadict: "thermo.dict"startup message: async-main applied initial condition file: "/projects/spades/users/quirien/EUROSIMCURSUS/EfoCourse/model/thermo.init" no comment"/projects/spades/users/quirien/EUROSIMCURSUS/EfoCourse/model/thermo.mdl"

Test analysis

SimulatorFilename Variablecelltemp.rec /simulation_timecelltemp.rec /Hardware/thermo.f/thermo$celltemp

# EuroSim recording fileVersion: Mk3-rev0Date recorded: Fri-Jul-19-12:03:21-MDT-2002Mission: ../../thermo.mdlRecord size: 56Dict: ../../thermo.IRIX64/thermo.dictSimTime: /simulation_timeTimeFormat: relativeNumber of variables: 2/simulation_time: struct timespec/Hardware/thermo.f/thermo$celltemp: float[3][4]

Journal File/2002-07-19/12:03:021/EsimJournal

Data Files*.rec

Index File*.tr


Test Analysis Tools,Test Analyzer:

Test Analyzer main window

Plot Canvas

Plot Properties

Variable Browser

PLOTTING:•PV-Wave•GNU plot

Status bar

Create Plot file: * .plt


Test analysis results

gnuplot

PV-WAVE


Questions?

More info: www.eurosim.nl

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