SAE TECHNICAL PAPER SERIES Rapid Prototyping of Control Strategies for Embedded Systems Michael S. Lukich, Travis E. Barnes, and James B. Maddock Caterpillar Ins. MAR 1 2 1995 The Engineering Society =For Advancing Mobility and Sea Air and Space, 46th Annual Earthmoving Industry Conference Peoria, Illinois April 4 & 5,1995 - 400 Commonwealth Drive, Warrendale, PA 15096-0001 U.S.A. Tel: (41 2)776-4841 Fax:(412)776-5760 Downloaded from SAE International by University of Auckland, Sunday, September 23, 2018The appearance of the ISSN code at the bottom of this page indicates SAE's consent that copies of the paper may be made for personal or internal use of specific clients. Thisconsent isgiven on the condition, however, that the copier pay a $5.00 per article copy fee through the Copyright Clearance Center, Inc. Operations Center, 222 Rosewood Drive, Danvers, MA 01 923 for copying beyond that permitted by Sections 107 or 108 of the U.S. Copyright Law. This consent does not extend to other kinds of copying such as copying for general distribution, for advertising or promotional purposes, for creating new collective works, or for resale. SAE routinely stocks printed papers for a period of three years following date of publication. Direct your orders to SAE Customer Sales and Satisfaction Department. Quantity reprint rates can be obtained from the Customer Sales and Satisfaction Department. To request permission to reprint a technical paper or permission to use copyrighted SAE publications in other works, contact the SAE Publications Group. All SAE papers, standards, and selected books are abstracted and indexed in the Global Mobility Database. No part of this publication may by reproduced in any form, in an electronic retrieval system or otherwise, without the prior written permission of the publisher. ISSN 01 48-71 91 Copyright 1995 Society of Automotive Engineers, Inc. Positions and opinions advanced in this paper are those of the author(s) and not necessarily those of SAE. The author is solely responsible for the content of the paper. A process is available by which discussions will be printed with the paper if it is published in SAE transactions. For permission to publish this paper in full or in part, contact the SAE Publications Group. Persons wishing to submit papers to be considered for presentation or publication through SAE should send the manuscript or a 300 word abstract of a proposed manuscript to: Secretary, Engineering Activity Board, SAE. Printed in USA 90-1203~1~~ Downloaded from SAE International by University of Auckland, Sunday, September 23, 2018ABSTRACT Rapid Prototyping of Control Strategies for Embedded Systems Michael S. Lukich, Travis E. Barnes, and James B. Maddock Caterpillar Inc. As both the number and complexity of electronic control system applications on earthmoving equipment and on-highway trucks increase, so does the effort associated with developing and maintaining control strategies implemented in embedded systems. A new tool was recently introduced by Sigma Technology of AM Arbor, Michigan, that provides the capability to perform rapid prototyping of production embedded systems. The rapid prototyping process includes system modeling, control algorithm synthesis, simulation analysis, source code generation and vehicle implementation. The results of incorporating this tool in the control system design process include improved control performance, improved system reliability/robustness, and significantly reduced developmentlmaintenance costs. I. Introduction Virtually all embedded electronic systems used in the earthmoving industry today are 8-bit devices. In order to meet system performance ~pec~cations at a cost commensurate with customer's expectations, the control strategy must be implemented in assembly language. Unfortunately, assembly-language programming is both time consuming and error prone. As a result, the embedde