Coq-based verification method for time sequence safety of robot control system

Abstract

The invention discloses a Coq-based robot control system time sequence safety verification method. The method comprises the following steps of S10, abstracting system behaviors; s20, making a semanticmodel; and S30, carrying out formalization of variables, formalization of transfer rules, formalization of expected properties and verification of properties. According to the method, the problem ofverifying the time sequence safety of the embedded system based on the C language by utilizing the theorem prover is solved.

Description

Technical field [0001] The present invention belongs to the systematic verification technology, which relates to a verification method of time-based robotic control system timing safety. Background technique [0002] The embedded system is widely used in a variety of production scenarios to assisted the production process. The robot control system is a typical application of embedded systems, while C language is widely applied to the development of the underlying procedure of the system. The robot's motion control program contains a large number of timing control logic and hardware control modules, introducing the C language time processing module, increasing the difficulty of system security verification. The effect of the traditional test method depends on the scale of the test case, and its test method is often difficult to ensure better test coverage in the case of a complex program structure in the case of complex program structure. Therefore, the authentication of the contr...

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Problems solved by technology

[0005] The present invention provides a method for verifying the timing security of a robot control system based on Coq, to ​​solve the problem of using a theorem prover to verify the timing security of an embedded system based on C language, and take a three-axis robot as an example for verification

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