Testability modeling and analysis method based on closed-loop control system architecture design

Abstract

The invention relates to a testability modeling and analysis method based on closed-loop control system architecture design. The method comprises the following steps: decomposing system-level functions of the closed-loop control system into component functions according to a composition structure and function definition of the closed-loop control system, and forming a function list; determining a function fault mode, a fault rate and a fault influence level based on the function list; forming a fault transmission path; a testability model is established, and after simulation analysis and calculation, the detection rate of the fault mode is obtained; sorting the function fault modes from high to low according to the fault rates, and calculating an accumulated detection rate based on the corresponding detection rate; optimization is carried out based on the indexes; and based on the initial test set, comprehensively considering the fault influence and the test cost, and adjusting and optimizing the initial test set to obtain an optimized test set. The problem that system testability design and analysis cannot be carried out at the initial stage of closed-loop control system design in the prior art is solved.

Description

Technical Field

[0001] This invention relates to the field of system testability design technology, and in particular to a testability modeling and analysis method based on closed-loop control system architecture design. Background Technology

[0002] The increasing demands and technological applications have led to more complex designs for closed-loop control systems, resulting in greater functional diversity and more complex components, which in turn leads to a rising failure rate. Fault detection capability is crucial for the proper functioning of closed-loop control systems, making system testability increasingly important. Therefore, conducting effective testability design and analysis in the early stages of system design is paramount to improving system testability.

[0003] According to systems engineering theory, the initial design work of a closed-loop control system mainly focuses on the architecture design phase. The goal of architecture design is to meet user requirements, clarify the system's constituent units and their functional divisions, define the interface relationships between the units, and provide overall constraints for subsequent detailed design and verification.

[0004] However, in existing technologies, although the system composition and functional interfaces are determined during the architecture design phase, testability design work often lags behind the establishment of the architecture. There is a lack of testability analysis methods based on the system architecture, making it difficult to discover test blind spots in the design in a timely manner. Summary of the Invention

[0005] Therefore, the technical problem to be solved by the present invention is to overcome the problem that the existing technology cannot carry out system testability design and analysis in the early stage of closed-loop control system design, and to provide a testability modeling and analysis method based on closed-loop control system architecture design. This method can be extended to the component design of closed-loop control systems and solve the problem of the lack of traceability in system and component testability design.

[0006] To address the aforementioned technical problems, this invention provides a testable modeling and analysis method based on a closed-loop control system architecture design, applicable to a closed-loop control system. The closed-loop control system includes a controller, a switching device, an execution device, and sensors connected in sequence. The method includes: After the architecture design of the closed-loop control system is completed, based on the composition structure and functional definition of the closed-loop control system, the system-level functions of the closed-loop control system are decomposed into the corresponding component functions of the controller, conversion device, execution device, and sensor, and a functional list is formed. Based on the aforementioned functional list, a functional failure mode impact and hazard analysis is conducted to determine the functional failure modes and corresponding failure rates for each of the aforementioned components. Based on each failure rate, the corresponding failure impact level is assessed. Based on the functional design and interface relationship of the closed-loop control system, the propagation relationship and propagation interface between each functional fault mode are analyzed to form the fault propagation path. Based on the aforementioned fault propagation path, a testable model is established using a formal modeling method. Based on the aforementioned testability model, system-level testability simulation analysis and calculation are performed to obtain the detection rate of each of the aforementioned functional failure modes; The functional failure modes are sorted from high to low according to their failure rates, and the cumulative detection rate is calculated based on the corresponding detection rates. Based on the indicators, optimization is carried out, and a threshold-based probability truncation method is adopted to initially determine the initial test set that meets the system detection rate indicators based on the cumulative detection rate. Based on the initial test set, and taking into account the impact of faults and testing costs, the initial test set is adjusted and optimized to obtain an optimized test set.

[0007] In one embodiment of the present invention, based on the initial test set, and taking into account both the impact of faults and the testing cost, the initial test set is adjusted and optimized to obtain a final test set, including: Functional fault modes that are outside the initial test set but whose fault impact level reaches or exceeds a preset level threshold are included in the initial test set.

[0008] In one embodiment of the present invention, it further includes: Under the premise of meeting the system detection rate target, functional failure modes with a failure impact level lower than the preset level threshold are removed from the initial test set based on the test cost and implementation difficulty.

[0009] In one embodiment of the present invention, it further includes: After adjusting the initial test set, all tests belonging to the fault modes of the adjusted initial test set are identified in the testability model. After analyzing and eliminating redundant tests, an optimized test set is obtained. Each test in the optimized test set is transformed into a test requirement and then transmitted to each component of the closed-loop control system.

[0010] In one embodiment of the present invention, a threshold-based probability truncation method is used to preliminarily determine an initial test set that meets the system detection rate index based on the cumulative detection rate, including: When the cumulative detection rate reaches the preset system detection rate threshold, the accumulated set of functional fault modes is used as the initial test set.

[0011] In one embodiment of the present invention, the component functions of the controller include: acquiring and processing the state parameters of the controlled object F1.1, acquiring and processing the feedback sensor signals F1.2, calculating the control signal value F1.3, and outputting the control signal F1.4; The functions of the conversion device include: converting the control signal into an actuator control signal F2.1; The component functions of the actuator include: changing the opening degree F3.1 of the oil circuit geometry according to the control signal; The sensor's component functions include: sensing the position of the actuator and sending it to the controller F4.1.

[0012] In one embodiment of the present invention, the failure modes of the controlled object state parameter acquisition and signal processing F1.1 include: failure to acquire controlled object state information FM1.1.1 and calculation error FM1.1.2; The failure modes of feedback sensor signal acquisition and signal processing F1.2 include: failure to acquire signal FM1.2.1 and calculation error FM1.2.2; The fault modes for calculating the control signal value F1.3 include: unable to calculate FM1.3.1, and calculation error FM1.3.2; The fault modes of the output control signal F1.4 include: unable to output FM1.4.1, and output error signal FM1.4.2; Fault modes for converting control signals into actuator control signals F2.1 include: unable to convert FM2.1.1, and output error FM2.1.2; The fault modes of changing the opening degree of the hydraulic circuit geometry F3.1 according to the control signal include: hydraulic circuit geometry cannot be adjusted FM3.1.1, leakage FM3.1.2, pressure buildup FM3.1.3, excessive oil supply FM3.1.4, and insufficient oil supply FM3.1.5; The fault modes sent to the controller F4.1 by sensing the position of the actuator include: no output FM4.1.1 and output error FM4.1.2.

[0013] In one embodiment of the present invention, the fault impact level of the following faults is Level III: inability to obtain controlled object status information FM1.1.1, inability to obtain signal FM1.2.1, inability to switch FM2.1.1, inability to adjust oil circuit geometry FM3.1.1, leakage FM3.1.2, excessive oil supply FM3.1.4, insufficient oil supply FM3.1.5, and no output FM4.1.1. The fault impact level of the following errors is Level II: Calculation error FM1.1.2, Calculation error FM1.2.2, Unable to calculate FM1.3.1, Calculation error FM1.3.2, Unable to output FM1.4.1, Output error signal FM1.4.2, Output error FM2.1.2, Pressure buildup FM3.1.3, and Output error FM4.1.2.

[0014] In one embodiment of the present invention, the preset system detection rate threshold is 85%.

[0015] In one embodiment of the present invention, the steps of establishing a testable model based on formal modeling methods and the system-level testable simulation analysis and calculation steps are implemented through the TMAS platform.

[0016] The technical solution of the present invention has the following advantages compared with the prior art: The present invention discloses a testable modeling and analysis method based on closed-loop control system architecture design. Testable analysis is carried out in the early stage of design and is carried out simultaneously with functional performance design. Potential test blind spots and failure risks can be discovered in advance during the system architecture stage, reducing the need for later modifications and repeated verification work, thereby significantly shortening the project development cycle and reducing development costs.

[0017] This invention fully considers the impact level of faults during the testability modeling process, optimizes the test coverage, and enhances the reliability and security of the system by quantitatively analyzing the fault detection rate and propagation characteristics.

[0018] This invention achieves a balance between design scheme and testing cost by comprehensively optimizing the testing scheme and resource allocation, while meeting the system detection rate index and safety requirements. It has good economic and engineering practical value. Attached Figure Description

[0019] To make the content of this invention easier to understand, the invention will be further described in detail below with reference to specific embodiments and accompanying drawings.

[0020] Figure 1 This is a flowchart of a test modeling and analysis method based on closed-loop control system architecture design according to the present invention.

[0021] Figure 2 This is a schematic diagram of a typical closed-loop control system.

[0022] Figure 3 This is a diagram illustrating the transmission relationship of functional failure modes.

[0023] Figure 4 This is a schematic diagram of a test model of a closed-loop control system.

[0024] Figure 5This is a schematic diagram of a test model of a closed-loop control system (controller).

[0025] Figure 6 This is a schematic diagram of a test model of a closed-loop control system (conversion device).

[0026] Figure 7 This is a schematic diagram of a test model of a closed-loop control system (actuator).

[0027] Figure 8 This is a schematic diagram of a test model of a closed-loop control system (sensor).

[0028] Figure 9 This is a schematic diagram of the initial test set in an embodiment of the present invention.

[0029] Figure 10 This is an optimized test set diagram according to an embodiment of the present invention. Detailed Implementation

[0030] The present invention will be further described below with reference to the accompanying drawings and specific embodiments, so that those skilled in the art can better understand and implement the present invention. However, the embodiments described are not intended to limit the present invention.

[0031] In this invention, when directions (up, down, left, right, front, and back) are described, it is only for the convenience of describing the technical solution of this invention, and does not indicate or imply that the technical features referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation of this invention.

[0032] In this invention, "several" means one or more, "multiple" means two or more, "greater than," "less than," "exceeding," etc., are understood to exclude the stated number; "above," "below," "within," etc., are understood to include the stated number. In the description of this invention, the terms "first" and "second" are used only to distinguish technical features and should not be construed as indicating or implying relative importance, or implicitly indicating the number of indicated technical features, or implicitly indicating the order of the indicated technical features.

[0033] In this invention, unless otherwise explicitly defined, the terms "setting," "installing," and "connecting" should be interpreted broadly. For example, they can refer to a direct connection or an indirect connection through an intermediate medium; a fixed connection, a detachable connection, or an integrally formed connection; a mechanical connection, an electrical connection, or a connection capable of mutual communication; or the internal connection of two components or the interaction between two components. Those skilled in the art can reasonably determine the specific meaning of the above terms in this invention based on the specific content of the technical solution.

[0034] A testable modeling and analysis method based on closed-loop control system architecture design is applied to closed-loop control systems, with reference to... Figure 2 As shown, the closed-loop control system includes a controller, a conversion device, an execution device, and a sensor connected in sequence. The method includes functional decomposition, functional failure mode impact and hazard analysis, failure mode propagation path analysis, formal modeling and analysis, and index-based optimization.

[0035] Functional decomposition involves breaking down the functions of a closed-loop system into control loops and key components.

[0036] Functional failure mode impact and hazard analysis refers to analyzing the functional failure modes, failure rates, and failure impacts of all functions and sub-functions identified through functional decomposition.

[0037] Functional failure mode propagation path analysis is an analysis of all functional failure modes based on the system's functional design and interfaces. It analyzes which other failures will occur when a certain failure occurs, determines the propagation interfaces between failures, and forms a failure model.

[0038] Formal modeling and analysis refers to establishing a formal model based on the propagation path of functional failure modes, and then conducting system test simulation analysis and calculation.

[0039] Optimization based on indicators involves using a threshold-based probabilistic truncation method to calculate the cumulative detection rate in descending order of functional failure mode failure rates. This initially determines the test set of functional failure modes that meet the detection rate indicators. Then, based on the impact of failures and testing costs, functional failure modes within and outside the test set are swapped to optimize the test set while ensuring that the detection rate indicators are met and without significant impact. Finally, all functional failure modes within each test set are transformed into test requirements and transmitted to each component of the closed-loop control system.

[0040] Reference Figure 1 As shown, specifically, the method includes: S1. After the architecture design of the closed-loop control system is completed, according to the composition structure and functional definition of the closed-loop control system, the system-level functions of the closed-loop control system are decomposed into the corresponding component functions of the controller (such as PLC controller), conversion device, execution device, and sensor, and a functional list is formed. S2. Based on the functional list, conduct a functional failure mode impact and hazard analysis to determine the functional failure mode and corresponding failure rate for each component function, and assess the corresponding failure impact level based on each failure rate. S3. Based on the functional design and interface relationships of the closed-loop control system, analyze the propagation relationships and interfaces between various functional fault modes to form fault propagation paths; refer to Figure 3 As shown.

[0041] S4. Based on the aforementioned fault propagation path, establish a test model using formal modeling methods. (Refer to...) Figures 4 to 8 As shown, S5. Based on the testability model, perform system-level testability simulation analysis and calculation to obtain the detection rate of each functional failure mode.

[0042] The steps for establishing a testable model based on formal modeling methods, as well as the system-level testable simulation analysis and calculation steps, can be implemented through the TMAS (Testable Methods and Evaluation Software) platform.

[0043] S6. Sort each of the functional failure modes in descending order of failure rate, and calculate the cumulative detection rate based on the corresponding detection rate.

[0044] S7. Optimize based on indicators, using a threshold-based probability truncation method, and preliminarily determine the initial test set that meets the system detection rate indicator based on the cumulative detection rate. (Refer to...) Figure 9 , Figure 10 As shown. Specifically includes: When the cumulative detection rate reaches the preset system detection rate threshold, the accumulated set of functional fault modes is used as the initial test set.

[0045] S8. Based on the initial test set, and taking into account both the impact of faults and testing costs, the initial test set is adjusted and optimized to obtain an optimized test set. Specifically, this includes: S81. Functional fault modes that are outside the initial test set but whose fault impact level reaches or exceeds a preset level threshold are included in the initial test set. S82. Under the premise of meeting the system detection rate index, based on the test cost and ease of implementation, functional failure modes with a failure impact level lower than the preset level threshold are removed from the initial test set.

[0046] S83. After adjusting the initial test set, identify all tests belonging to the adjusted initial test set in the testability model, analyze and eliminate redundant tests to obtain the optimized test set. Each test in the optimized test set is transformed into a test requirement and then transmitted to each component of the closed-loop control system.

[0047] This method uses functional decomposition, functional failure mode effect and hazard analysis to extract the closed-loop system composition, system and component functions, and the transmission relationship of functional failure modes. It uses the TMAS platform to establish a testable model of the closed-loop control system and configures test resources after comprehensive optimization based on the failure impact and test cost.

[0048] In one embodiment, referring to Table 1, the component functions of the controller include: acquiring and processing the state parameters of the controlled object F1.1, acquiring and processing the feedback sensor signals F1.2, calculating the control signal value F1.3, and outputting the control signal F1.4; The functions of the conversion device include: converting the control signal into an actuator control signal F2.1; The component functions of the actuator include: changing the opening degree F3.1 of the oil circuit geometry according to the control signal; The sensor's component functions include: sensing the position of the actuator and sending it to the controller F4.1.

[0049] Specifically, the fault modes of controlled object status parameter acquisition and signal processing F1.1 include: failure to acquire controlled object status information FM1.1.1 and calculation error FM1.1.2; The failure modes of feedback sensor signal acquisition and signal processing F1.2 include: failure to acquire signal FM1.2.1 and calculation error FM1.2.2; The fault modes for calculating the control signal value F1.3 include: unable to calculate FM1.3.1, and calculation error FM1.3.2; The fault modes of the output control signal F1.4 include: unable to output FM1.4.1, and output error signal FM1.4.2; Fault modes for converting control signals into actuator control signals F2.1 include: unable to convert FM2.1.1, and output error FM2.1.2; The fault modes of changing the opening degree of the hydraulic circuit geometry F3.1 according to the control signal include: hydraulic circuit geometry cannot be adjusted FM3.1.1, leakage FM3.1.2, pressure buildup FM3.1.3, excessive oil supply FM3.1.4, and insufficient oil supply FM3.1.5; The fault modes sent to the controller F4.1 by sensing the position of the actuator include: no output FM4.1.1 and output error FM4.1.2.

[0050] Specifically, the fault impact level of the following faults is Level III: inability to obtain controlled object status information FM1.1.1, inability to obtain signal FM1.2.1, inability to switch FM2.1.1, inability to adjust oil circuit geometry FM3.1.1, leakage FM3.1.2, excessive oil supply FM3.1.4, insufficient oil supply FM3.1.5, and no output FM4.1.1. The fault impact level of the following errors is Level II: Calculation error FM1.1.2, Calculation error FM1.2.2, Unable to calculate FM1.3.1, Calculation error FM1.3.2, Unable to output FM1.4.1, Output error signal FM1.4.2, Output error FM2.1.2, Pressure buildup FM3.1.3, and Output error FM4.1.2.

[0051] Specifically, Figure 3 The diagram shows the fault propagation path. Each rectangle represents a specific functional fault mode, and the arrows indicate the impact or propagation path of the fault on the next level of function.

[0052] For example, the inability to obtain the controlled object status information FM1.1.1 or the inability to obtain the signal FM1.2.1 will cause the controller to be unable to calculate FM1.3.1, which in turn will cause the controller to be unable to output FM1.4.1, resulting in an incorrect control command.

[0053] When the control signal cannot output FM1.4.1, it will be transmitted to the switching device, causing the inability to switch to FM2.1.1; If the conversion device cannot convert FM2.1.1, the actuator will experience problems such as the inability to adjust the oil circuit geometry cross section to FM3.1.1, leading to malfunctions such as pressure buildup (FM3.1.3) and excessive oil supply (FM3.1.4). These faults directly affect the mechanical performance of the system, such as fluid control, pressure response, and motion displacement.

[0054] Abnormalities in the actuator can cause sensor signal output errors (FM4.1.2) or no output (FM4.1.1); abnormal feedback signals will then be transmitted back to the controller, triggering faults such as the controller being unable to acquire signals (FM1.2.1) or making calculation errors (FM1.3.2).

[0055] Specifically, the preset system detection rate threshold is 85%. While ensuring the system detection rate threshold (e.g., 85%), the optimal match between test resources and detection coverage is achieved through iterative optimization of the test set, thereby improving economic efficiency and engineering feasibility.

[0056] This method introduces testability modeling and analysis simultaneously during the architecture design phase, enabling system design and test design to proceed in parallel, thus avoiding the problems of delayed test plans and high modification costs in traditional methods.

[0057] By using functional decomposition and failure mode identification, potential fault propagation paths in key components such as controllers, actuators, and sensors can be identified. Testability analysis can reduce rework and verification in later stages, shortening the project iteration cycle.

[0058] By establishing a formalized testability model through the TMAS platform, we can achieve visualized modeling and quantitative simulation of system-level testability, enabling quantitative analysis of fault propagation and detection rate. Using a probabilistic cutoff method, we determine the initial test set based on the cumulative detection rate, ensuring that the system detection rate meets the target while avoiding redundant testing.

[0059] After the initial test suite is formed, high-impact failure modes that were not selected are added, while low-impact but high-cost tests are removed, resulting in a balanced and optimal test plan. The optimized test suite is then translated into specific test requirements and distributed to each component module of the system, ensuring a closed loop of testability design from the system level to the component level.

[0060] Table 1: Functional Decomposition and Failure Mode Analysis Diagram

[0061] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0062] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0063] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0064] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0065] Finally, it should be noted that the above specific embodiments are only used to illustrate the technical solutions of the present invention and not to limit it. Although the present invention has been described in detail with reference to examples, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. A testable modeling and analysis method based on closed-loop control system architecture design, applied to a closed-loop control system, wherein the closed-loop control system includes a controller, a switching device, an execution device, and a sensor connected in sequence, characterized in that, The method includes: After the architecture design of the closed-loop control system is completed, based on the composition structure and functional definition of the closed-loop control system, the system-level functions of the closed-loop control system are decomposed into the corresponding component functions of the controller, conversion device, execution device, and sensor, and a functional list is formed. Based on the aforementioned functional list, a functional failure mode impact and hazard analysis is conducted to determine the functional failure modes and corresponding failure rates for each of the aforementioned components. Based on each failure rate, the corresponding failure impact level is assessed. Based on the functional design and interface relationship of the closed-loop control system, the propagation relationship and propagation interface between each functional fault mode are analyzed to form the fault propagation path. Based on the aforementioned fault propagation path, a testable model is established using a formal modeling method. Based on the aforementioned testability model, system-level testability simulation analysis and calculation are performed to obtain the detection rate of each of the aforementioned functional failure modes; The functional failure modes are sorted from high to low according to their failure rates, and the cumulative detection rate is calculated based on the corresponding detection rates. Based on the indicators, optimization is carried out, and a threshold-based probability truncation method is adopted to initially determine the initial test set that meets the system detection rate indicators based on the cumulative detection rate. Based on the initial test set, and taking into account the impact of faults and testing costs, the initial test set is adjusted and optimized to obtain an optimized test set.

2. The testable modeling and analysis method based on closed-loop control system architecture design according to claim 1, characterized in that, Based on the initial test set, and taking into account both the impact of faults and testing costs, the initial test set is adjusted and optimized to obtain the final test set, including: Functional fault modes that are outside the initial test set but whose fault impact level reaches or exceeds a preset level threshold are included in the initial test set.

3. The testable modeling and analysis method based on closed-loop control system architecture design according to claim 2, characterized in that, Also includes: Under the premise of meeting the system detection rate target, functional failure modes with a failure impact level lower than the preset level threshold are removed from the initial test set based on the test cost and implementation difficulty.

4. The testable modeling and analysis method based on closed-loop control system architecture design according to claim 3, characterized in that, Also includes: After adjusting the initial test set, all tests belonging to the fault modes of the adjusted initial test set are identified in the testability model. After analyzing and eliminating redundant tests, an optimized test set is obtained. Each test in the optimized test set is transformed into a test requirement and then transmitted to each component of the closed-loop control system.

5. The testable modeling and analysis method based on closed-loop control system architecture design according to claim 4, characterized in that, Using a threshold-based probability truncation method, an initial test set that meets the system detection rate index is preliminarily determined based on the cumulative detection rate, including: When the cumulative detection rate reaches the preset system detection rate threshold, the accumulated set of functional fault modes is used as the initial test set.

6. The testable modeling and analysis method based on closed-loop control system architecture design according to claim 5, characterized in that, The controller's component functions include: acquiring and processing the controlled object's state parameters (F1.1), acquiring and processing feedback sensor signals (F1.2), calculating control signal values ​​(F1.3), and outputting control signals (F1.4). The functions of the conversion device include: converting the control signal into an actuator control signal F2.1; The component functions of the actuator include: changing the opening degree F3.1 of the oil circuit geometry according to the control signal; The sensor's component functions include: sensing the position of the actuator and sending it to the controller F4.

1.

7. The testable modeling and analysis method based on closed-loop control system architecture design according to claim 6, characterized in that, The fault modes of controlled object status parameter acquisition and signal processing F1.1 include: failure to acquire controlled object status information FM1.1.1, and calculation error FM1.1.2; The failure modes of feedback sensor signal acquisition and signal processing F1.2 include: failure to acquire signal FM1.2.1 and calculation error FM1.2.2; The fault modes for calculating the control signal value F1.3 include: unable to calculate FM1.3.1, and calculation error FM1.3.2; The fault modes of the output control signal F1.4 include: unable to output FM1.4.1, and output error signal FM1.4.2; Fault modes for converting control signals into actuator control signals F2.1 include: unable to convert FM2.1.1, and output error FM2.1.2; The fault modes of changing the opening degree of the hydraulic circuit geometry F3.1 according to the control signal include: hydraulic circuit geometry cannot be adjusted FM3.1.1, leakage FM3.1.2, pressure buildup FM3.1.3, excessive oil supply FM3.1.4, and insufficient oil supply FM3.1.5; The fault modes sent to the controller F4.1 by sensing the position of the actuator include: no output FM4.1.1 and output error FM4.1.

2.

8. The testable modeling and analysis method based on closed-loop control system architecture design according to claim 7, characterized in that, The following faults have an impact level of Level III: Unable to obtain controlled object status information FM1.1.1, Unable to obtain signal FM1.2.1, Unable to switch FM2.1.1, Unable to adjust oil circuit geometry FM3.1.1, Leakage FM3.1.2, Excessive oil supply FM3.1.4, Insufficient oil supply FM3.1.5, No output FM4.1.

1. The fault impact level of the following errors is Level II: Calculation error FM1.1.2, Calculation error FM1.2.2, Unable to calculate FM1.3.1, Calculation error FM1.3.2, Unable to output FM1.4.1, Output error signal FM1.4.2, Output error FM2.1.2, Pressure buildup FM3.1.3, and Output error FM4.1.

2.

9. The testable modeling and analysis method based on closed-loop control system architecture design according to claim 8, characterized in that, The preset system detection rate threshold is 85%.

10. The testable modeling and analysis method based on closed-loop control system architecture design according to claim 1, characterized in that, The steps for establishing a testable model based on formal modeling methods, as well as the system-level testable simulation analysis and calculation steps, are implemented through the TMAS platform.

Images