An Object-Oriented Systems Engineering Point of View to Develop Controllers of Quadrotor Unmanned Aerial Vehicles
Table 2
The main control capsules of PIM can be customized and reused in the new control application for various UAVs of the Vertical Take-Off and Landing (VTOL) type.
Designed control capsules
Specialization rules
Generic artifacts
Specialized artifacts
Discrete capsule
The discrete part’s capsule is not changed in the overall design of the new controller of VTOL-type UAVs.
None
Continuous part
The ports and protocols of this capsule are not changed in the overall design of the new controller of VTOL type UAVs.
The continuous part’s capsule is specialized by supplementing or cutting down continuous components () that depend on the physical actuators installed on the new VTOL-type UAV. The states and their behaviors, which correspond to the supplemented/cut down continuous elements, are supplemented/cut down in/from the state machine of this capsule. The behavior of the new set of continuous elements is used to redefine the concrete Instantaneous Global Continuous Behaviors (IGCBs) ().
IGCB
The state machine, ports, and protocols of this capsule are not changed in the overall design for the new controller of the VTOL-type UAV
The specifications of the IGCB’s capsule make up the new IGCB model and are formed by restructuring the new set of continuous elements according to the implemented functional block diagram.
Internal interface
The state machine and ports of this capsule are not changed in the overall design for the new controller of the VTOL-type UAV.
The specialization of the internal interface’s capsule is performed by supplementing/cutting down in/from the new IGCB in the IGCB’s capsule if necessary. A new Inv term corresponds to new supplemented/cut down situations in/from the discrete part’s capsule of application.
External interface
The state machine, ports, and protocols of this capsule are not changed in the overall design for the new controller of the VTOL-type UAV.
The external interface’s capsule is specialized by supplementing or cutting down input or output events, which are issued from outside, (i.e., supplementing/cutting down these events in/from its protocols).
The real-time capsule patterns shown in Figures 6–8 are not changed in the overall design for new controllers of VTOL-type UAVs.
