本論文設計了一個GRAFCET虛擬機器的嵌入式軟體架構，並將其實作於以ARM Cortex-M3為核心的微控制器。以此軟硬體為基礎，我們提出一個智慧型控制器雛型系統快速開發平台。智慧型控制器意指結合離散事件系統(DES)與連續時間系統(CTS)的混合型控制器。控制器使用GRAFCET圖形語言進行描述，透過DES/CTS形式化界面，可輕易結合連續時間控制器。為了提供開發者一個直覺、方便的開發環境，我們設計了一個GRAFCET編輯器，可將GRAFCET描述的智慧型控制器行為轉譯為虛擬機器可執行的參數表，並且立即執行。此一平台的優點在於開發者可免於使用硬體相依(hardware-dependant)的編譯器和程式設計語言，而採用圖形界面的高階行為描述，再自動生成智慧型控制器目標雛型系統(target prototyping)，以進行快速整合和驗證。論文最後，我們以機器人控制和溫控系統為例來驗證和展示我們的智慧型控制器平台確實具有快速雛型化系統開發的優勢。 This paper designs the embedded system architecture of the GRAFCET virtual machine, and implements it with ARM Cortex-M3 microcontroller core. Base on this software and hardware, we propose a fast prototyping development platform for smart controller. The fast prototyping development platform for smart controller means it is a combination of DES and CTS hybrid controller. The controller uses GRAFCET graphic language to describe its high level behavior and we can easily combine CTS controller into the system through the DES/CTS formal interface. In order to provide the developer an intuitive and convenient development environment, we designed the GRAFCET editor. The smart controllers behavior which described by GRAFCET can be translated to the coding table that virtual machine can execute right away. The advantage of this platform is that the developers don’t need to use the hardware-dependent translator and programming language. Instead, they can use the graphic interfaced high-level behavior description and automatic generating the target prototyping system of the smart controller. It can achieve fast-integration and verification. In the end of the paper, we verify and demo our smart controller with the example of robot controlling and temperature controlling. It shows that the platform really has the advantage of fast-rapid prototyping system development.
