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Lydia Models
C.3 The Models Constructed for the Case Study
a t t r i b u t e p r o b a b i l i t y ( h MotorBrake ) = h MotorBrake ? 0 . 9 9
: 0 . 0 1 ;
a t t r i b u t e h e a l t h ( h S t a n d ) = t r u e ;
a t t r i b u t e p r o b a b i l i t y ( h S t a n d ) = h S t a n d ? 0 . 9 5 : 0 . 0 5 ;
a t t r i b u t e h e a l t h ( h PEU ) = t r u e ;
a t t r i b u t e p r o b a b i l i t y ( h PEU ) = h PEU ? 0 . 9 6 : 0 . 0 4 ;
/ / d e f i n i t i o n b e h a v i o r c u r r e n t loop
h EXT => ( I mvr = I s e t ) ;
h MVR => ( I t o m o t o r = I mvr ) ;
h MotorBrake => ( I f r o m m o t o r = I t o m o t o r ) ;
h MVR => ( I a c t a n a l o g = I f r o m m o t o r ) ;
h EXT => ( I a c t = I a c t a n a l o g ) ;
/ / d e f i n i t i o n b e h a v i o r speed loop
h EXT => ( V mvr = Vset ) ;
h MVR => ( V t o m o t o r = V mvr ) ;
h MotorBrake => ( t o r q u e = V t o m o t o r ) ;
h S t a n d => ( r e a l s p e e d = t o r q u e ) ;
h MVR => ( V a c t a n a l o g = r e a l s p e e d ) ;
h EXT => ( Vact = V a c t a n a l o g ) ;
/ / d e f i n i t i o n b e h a v i o r p o s i t i o n loop
( ! CURRENT ERROR and !SPEED ERROR) = P s e t ;
h S t a n d => ( P s e t => r e a l p o s i t i o n ) ;
h PEU => ( P a c t a n a l o g = r e a l p o s i t i o n ) ;
h EXT => ( e p o s = ! P a c t a n a l o g ) ;
/ / s p e c i f i e d b e h a v i o r i n t e r n a l of t h e LUC Extension
h EXT => ( I s e t = e s p ) ;
}
/ / d e f i n i t i o n e r r o r s i g n a l s
CURRENT ERROR = ( I a c t != I s e t ) ;
SPEED ERROR = ( Vact != Vset ) ;
( P a c t != P s e t ) => POSITION ERROR ;
e p o s = ( P a c t != P s e t ) ; / / by d e f i n i t i o n
c t r s p e e d = ( I s e t != e s p ) ; / / d e f i n i t i o n d e r i v a t i v e
c t r s p e e d
h EXT => ( POSITION ERROR => ( e p o s or ! h PEU ) ) ;
POSVAL ERROR => ! h PEU ;
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