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SUMMARYThis paper describes a time-triggered object-oriented model for embedded control systems and a control software development method based on that model. Conventional object-oriented models had been based on event-triggered actions. In contrast, we propose a time-triggered object-oriented model for real-time control. This model, which consists of a set of objects for calculating data values required for control, activates these objects cyclically to implement time-triggered actions. This paper also shows that a distributed control system having location transparency can be implemented efficiently according to this model. In addition, we propose a control software development method based on the proposed time-triggered object-oriented model. This development method can extract objects according to simple operations from control block diagrams used to describe control specifications. This paper also introduces an embedded system-oriented implementation method that does not consume much resource and presents an application example in a distributed control system for automobiles.

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