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\fs24\lang1050\langfe1050\cgrid\langnp1050\langfenp1050 {\b\fs28\insrsid1443569 ODABIR UGRA\'d0ENIH RA\'c8UNALNIH SUSTAVA I INTEGRACIJA PROCESNE MRE\'8eE DISTRIBUIRANOG SUSTAVA NADZORA BATERIJE
\par }\pard \qc \li0\ri0\nowidctlpar\faauto\rin0\lin0\itap0 {\b\insrsid1443569 Aleksandar Klai\'e6
\par Brodarski institut
\par Hrgovi\'e6i 61, 41000 Zagreb
\par E-mail: sasa@irs.hrbi.hr
\par }\pard \qj \li0\ri0\sb480\nowidctlpar\tx1701\faauto\rin0\lin0\itap0 {\b\fs22\insrsid1443569 SA\'8eETAK:}{\fs22\insrsid1443569  U radu se razmatra problematika zasnivanja, projektiranja i ostvarivanja jednog distribuiranog ra\'e8
unalnog sustava. Iznesen je pregled izgradnje sustava s naglaskom na problemu odabira ugra\'f0enih ra\'e8unalnih sustava i integracije procesne mre\'9e
e, obzirom na cijenu, performanse, razvojne alate, strukturu razvojnog tima, potrebna iskustva, znanja i sli\'e8no. Rad opisuje ostvarenje distribuiranog ra\'e8unalnog sustava nadzora baterije podvodnog vozila. Ugra\'f0eni ra\'e8un
alni sustavi temelje se na procesorima Intel 80X86 s ROM-DOS operativnim sustavom, te na derivatima Intel MCS-51 familije mikrokontrolera. Komunikacija je izvedena prema CAN specifikaciji (Controller Area Network). Programska podr\'9a
ka se razvija u C-u, na IBM PC kompatibilnim ra\'e8unalima.
\par }\pard \qc \li576\ri576\sb480\sa240\nowidctlpar\faauto\rin576\lin576\itap0 {\b\fs28\insrsid1443569 EMBEDDED SYSTEMS SELECTION AND FIELDBUS INTEGRATION OF THE DISTRIBUTED SYSTEM FOR BATTERY MONITORING
\par }\pard \qj \li0\ri0\sa480\nowidctlpar\tx1701\faauto\rin0\lin0\itap0 {\b\fs22\insrsid1443569 ABSTRACT:}{\fs22\insrsid1443569  The paper considers some problems in design and development of a distributed computer system. It is a review of t
he project development which emphasise some problems of embedded systems selection and fieldbus integration, considering price, performance, development tools, structure of development team, required know-how, etc. The development of a distributed compute
r
 system for battery monitoring of an underwater vehicle is described. The embedded systems are based on Intel 80X86 microprocessors with ROM-DOS operating system, and on the derivatives of Intel MCS-51 microcontrollers family, and the communication on the
 CAN specification (Controller Area Network). The software is developed in C language, on IBM PC compatibles.
\par }\pard \qj \li0\ri0\sa120\nowidctlpar\faauto\rin0\lin0\itap0 {\b\insrsid1443569 1. UVOD
\par }\pard \qj \li0\ri0\nowidctlpar\tx450\tx1701\faauto\rin0\lin0\itap0 {\fs22\insrsid1443569 \tab U suvremenoj automatizaciji primijenjuju se razli\'e8ite ra\'e8unalne tehnologije dostupne na tr\'9ei\'9atu, sastavljene od sklopovlja (hardware) i pr
ogramske podr\'9ake (software, firmware). Tehni\'e8ki projekt za izvedbu ovakvog sustava \'e8ini faza zasnivanja (tehni\'e8
ki zahtjevi, studija izvodljivosti, idejni projekt), faza projektiranja (predprojekt, specifikacija materijala, projekt) i faza ostvarivanja (razvoj i/ili test modula, integracija modula u sustav, testiranje sustava, instalacija na objektu i pu\'9a
tanje u pogon). Ova ra\'9a\'e8lana va\'9ei i za klasi\'e8ne elektroni\'e8ke sustave i za ra\'e8unalne sustave. Ipak, postoji razlika izme\'f0u klasi\'e8nih i ra\'e8unalnih sustava u provjeri postavljenih tehni\'e8kih zahtjeva na opremu koja se ugra\'f0
uje na odre\'f0eni objekt. Razli\'e8iti klasifikacijski zavodi (npr. Lloyd's Register of Shipping) imaju velika iskustva u provjeri specifi\'e8nih zahtjeva koji se postavljaju na elektroni\'e8ku opremu koja se ugra\'f0uje na odre\'f0
ene objekte ( npr. brodska elektroni\'e8ka oprema). Sklopovlje se podvrgava nizu klimo-mehani\'e8kih ispitivanja primjerenih uvjetima radne okoline na mjestu ugradnje ure\'f0aja (\'9aokovi, vibracije, temperatura, vlaga, slana atmosfera i sl.). T
akve provjere vr\'9ae se i na ra\'e8unalnom sklopovlju.
\par \tab Pored sklopovlja ra\'e8unalni sustavi posjeduju i programsku podr\'9aku. Nadzor nad izradom sustava realiziranog ra\'e8unalnom tehnologijom zahtijeva primjenu dodatnih metoda za procjenu kakvo\'e6e programske podr\'9ake 
(ESPRIT, LR, ISO 9000-3, itd.) [4].
\par \tab Dobrim planiranjem i sistematskim pristupom u svim fazama izgradnje sustava mogu\'e6e je osigurati kakvo\'e6u, zadanu razli\'e8itim metodama procjene kakvo\'e6e programske podr\'9ake.
\par \tab Neki aspekti vezani za organizaciju, metodologiju i tehnologiju u izradi projekta i realizaciji konkretnog sustava bit \'e6e razmotreni u daljem tekstu. Cilj je realizirati sustav koji \'e6e posti\'e6i faktore kakvo\'e6e kao \'9a
to su cjelovitost, preciznost, razumljivost, mogu\'e6nost testiranja, odr\'9eavanja, prilago\'f0avanja i unapre\'f0ivanja. Naravno, sve ovo treba posti\'e6
i u uvjetima koji su ostvarivi u ustanovi, tj. firmi koja je krenula u izgradnju jednog kompleksnog sustava.
\par }\pard \qj \li0\ri0\nowidctlpar\tx720\tx1701\faauto\rin0\lin0\itap0 {\fs22\insrsid1443569 
\par }\pard \qj \li0\ri0\sa120\nowidctlpar\faauto\rin0\lin0\itap0 {\b\insrsid1443569 2. PRISTUP IZGRADNJI SUSTAVA
\par }\pard \qj \li0\ri0\nowidctlpar\tx450\faauto\rin0\lin0\itap0 {\fs22\insrsid1443569 \tab Izgradnja sustava nadzora baterije polazi od karakteristika takvog sustava razvijenog prije ne\'9ato vi\'9ae od dvadeset godina. Veliki problem ovog rje\'9a
enja bila je potreba ru\'e8nog upravljanja operatera dugotrajnim mjernim postupcima koja su obuhva\'e6ala vi\'9ae stotina mjerenih veli\'e8ina (naponi baterijskih \'e6elija, temperatura i gusto\'e6
a elektrolita, indikacija vodika, ventilacija baterijskih prostora, kapaciteti baterija, mogu\'e6i spojevi \'e8lanaka baterija na masu broda, ...) [3]. Slijede\'e6i zna\'e8ajan problem bila je slo\'9ee
na kabelska struktura sustava. Svi signali su analogni i vo\'f0eni su iz razli\'e8itih prostora (krmeni i pram\'e8ani baterijski prostor, ventilacijski kanali i glavna razvodna plo\'e8
a) na ormar nadzora baterije gdje su obavljana mjerenja. Veliki broj signala tra\'9ei neprakti\'e8ne konektore sa velikim brojem polova te debele, vi\'9ae\'9e
ilne kabele, koji trebaju prolaziti kroz nepropusne pregrade u objektu, pa tako postavljanje kabela i brtvljenje kabelskih prolaza postaje problem. Ne treba zaboraviti ni probleme spajanja i pu\'9a
tanja u pogon sustava s ovako kompleksnom kabelskom strukturom, \'9ato redovito rezultira visokom cijenom takvog sustava.
\par \tab U po\'e8etnoj fazi zasnivanja sustava, tj. izradi studije izvodljivosti, izvr\'9aena je analiza nekada\'9anjeg rje\'9aenja na bazi postoje\'e6e dokumentacije. Ova analiza uklju\'e8
uje i opis procesa, tj. osnovne karakteristike baterija za napajanje, pripadnog ventilacijskog podsustava i samog objekta - podvodnog vozila. Prvo je provjerena isplativost ponavljanja nekada\'9anjeg rje\'9aenja na bazi postoje\'e6e dokume
ntacije. Rezultat analize pokazao je da bi takav pristup bio lo\'9a iz vi\'9ae razloga:
\par }\pard \qj \fi-274\li994\ri0\nowidctlpar\tx990\faauto\rin0\lin994\itap0 {\fs22\insrsid1443569 \bullet \tab lo\'9aa i nekompletna dokumentacija,
\par \bullet \tab zastarjelost tehnologije (nemogu\'e6nost nabave nekih komponenata, redizajniranje pojedinih ure\'f0aja sustava, ...),
\par \bullet \tab zastarjelost koncepcije,
\par \bullet \tab neprihvatljivo lo\'9a omjer cijena i performansi takvog sustava.
\par }\pard \qj \li0\ri0\nowidctlpar\tx450\faauto\rin0\lin0\itap0 {\fs22\insrsid1443569 \tab Na slijede\'e6em stupnju uzimaju se u obzir faktori koji utje\'e8u na izgradnju sustava.
\par Kao faktore ponude uzmimo:
\par }\pard \qj \fi-274\li994\ri0\nowidctlpar\tx990\faauto\rin0\lin994\itap0 {\fs22\insrsid1443569 \bullet \tab tehni\'e8ke zahtjeve,
\par \bullet \tab vremenske rokove,
\par \bullet \tab omjer cijena i performansi sustava.
\par }\pard \qj \li0\ri0\nowidctlpar\tx720\faauto\rin0\lin0\itap0 {\fs22\insrsid1443569 Kao unutra\'9anje faktore uzmimo:
\par }\pard \qj \fi-274\li994\ri0\nowidctlpar\tx990\faauto\rin0\lin994\itap0 {\fs22\insrsid1443569 \bullet \tab vo\'f0enje projekta,
\par \bullet \tab znanje i iskustvo razvojnog tima (know-how),
\par \bullet \tab strukturu dobiti.
\par }\pard \qj \li0\ri0\nowidctlpar\tx450\faauto\rin0\lin0\itap0 {\fs22\insrsid1443569 Kao vanjske faktore uzmimo:
\par }\pard \qj \fi-274\li994\ri0\nowidctlpar\tx990\faauto\rin0\lin994\itap0 {\fs22\insrsid1443569 \bullet \tab ponudu opreme na svjetskom tr\'9ei\'9atu,
\par \bullet \tab dostupnost opreme u na\'9aim uvjetima,
\par \bullet \tab vrijeme nabave.
\par }\pard \qj \li0\ri0\nowidctlpar\tx450\faauto\rin0\lin0\itap0 {\fs22\insrsid1443569 Kao tehnolo\'9ake faktore uzmimo:
\par }\pard \qj \fi-274\li994\ri0\nowidctlpar\tx990\faauto\rin0\lin994\itap0 {\fs22\insrsid1443569 \bullet \tab ukupnu ponudu odre\'f0ene vrste ra\'e8unalne tehnologije, omjer cijena i performansi ugra\'f0enih ra\'e8unalnih sustava i sofisticiranost raspolo
\'9eivih razvojnih alata na tr\'9ei\'9atu,
\par \bullet \tab otvorenost razvojnih alata i modula koji se kupuju,
\par \bullet \tab svjetske trendove na datom podru\'e8ju, odnosno perspektivu primijenjenog pristupa.
\par }\pard \qj \li0\ri0\nowidctlpar\tx450\faauto\rin0\lin0\itap0 {\fs22\insrsid1443569 \tab Pomo\'e6u ovih faktora razra\'f0eno je idejno rje\'9aenje sustava prikazano na Sl. 1. [3], odnosno odabrano je najpovoljnije rje\'9aenje me\'f0
u razmatranim varijantama i podvarijantama za izgradnju sustava u realnom okru\'9eenju proces-naru\'e8itelj-projektant-sustav.
\par }\pard \qc \li0\ri0\sb120\sa120\nowidctlpar\tx450\faauto\rin0\lin0\itap0 {\pard\plain \qc \li0\ri0\sb120\sa120\nowidctlpar\tx450\faauto\rin0\lin0\itap0 \fs24\lang1050\langfe1050\cgrid\langnp1050\langfenp1050\insrsid1443569 {\object\objemb
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\par }\pard \qc \li0\ri0\sa120\nowidctlpar\tx450\faauto\rin0\lin0\itap0 {\b\fs22\insrsid1443569 Sl. 1. Konfiguracija sustava nadzora baterije podvodnog vozila [3]
\par }\pard \qj \li0\ri0\nowidctlpar\tx450\faauto\rin0\lin0\itap0 {\fs22\insrsid1443569 \tab Polazna to\'e8ka izrade idejnog rje\'9aenja sustava je definiranje karakteristika cilja kojem se te\'9ei. Ove karakteristike mo\'9eemo ra\'9a\'e8laniti na dvije grupe:

\par }\pard \qj \fi-274\li994\ri0\nowidctlpar\tx990\faauto\rin0\lin994\itap0 {\fs22\insrsid1443569 \bullet \tab op\'e6e karakteristike, koje se ti\'e8u razvojne strategije projektanta,
\par \bullet \tab posebne karakteristike, koje su obilje\'9eja procesa ili specifi\'e8nosti koje je postavio naru\'e8itelj.
\par }\pard \qj \li0\ri0\nowidctlpar\tx450\faauto\rin0\lin0\itap0 {\fs22\insrsid1443569 U na\'9aem slu\'e8aju definirali smo op\'e6e karakteristike cilja:
\par }\pard \qj \fi-274\li994\ri0\nowidctlpar\tx990\faauto\rin0\lin994\itap0 {\fs22\insrsid1443569 \bullet \tab modularna izvedba sa \'9ato ve\'e6im brojem gotovih modula dobavljivih na tr\'9ei\'9atu,
\par \bullet \tab hijerarhijska struktura sustava,
\par \bullet \tab otvoren sustav, u smislu standardiziranog komunikacijskog protokola,
\par }\pard \qj \li0\ri0\nowidctlpar\tx450\faauto\rin0\lin0\itap0 {\fs22\insrsid1443569 dok je posebne karakteristike definirao naru\'e8itelj sa svojim konzultantima:
\par }\pard \qj \fi-274\li994\ri0\nowidctlpar\tx990\faauto\rin0\lin994\itap0 {\fs22\insrsid1443569 \bullet \tab koncepcija tri samostalna ure\'f0aja, koji mogu biti povezani,
\par \bullet \tab zadr\'9eavanje starih kodnih oznaka u dijelu dokumentacije,
\par \bullet \tab zadr\'9eavanje kabelske strukture u nekim segmentima sustava (napajanje glavnog ormara).
\par }\pard \qj \li0\ri0\nowidctlpar\tx450\faauto\rin0\lin0\itap0 {\fs22\insrsid1443569 \tab Op\'e6e karakteristike odnose se i na sklopovsku i na programsku podr\'9aku. Izvedba treba biti takva da koristi \'9ato ve\'e6i broj gotovih modula nabavljenih na tr
\'9ei\'9atu. Opredjeljenje prema kori\'9atenju standardnih modula daje kvalitetne, testirane module, mogu\'e6nost nabave od vi\'9ae proizvo\'f0a\'e8a iz razli\'e8itih dijelova svijeta i njihovu podr\'9aku, a to redovito predstavlja najjeftinije rje\'9a
enje (obi\'e8no su u pitanju male serije).
\par \tab Modularna izvedba mora omogu\'e6iti kori\'9atenje vlastitih rje\'9aenja (modula) za neke specifi\'e8ne funkcije za koje se adekvatni moduli ne mogu na\'e6i na tr\'9ei\'9atu, ili im je neodgovaraju\'e6a izvedba (npr. otpornost na \'9a
okove i vibracije), ili je cijena neprihvatljivo visoka. Interna struktura pojedinih ure\'f0aja sustava treba se sastojati od karakteristi\'e8nih ugradbenih elemenata, "kockica", od kakvih se grade svi ili ve\'e6i dio ure\'f0
aja u sustavu. Ovakva izvedba smanjuje nabavnu cijenu opreme i vrijeme razvoja, a pove\'e6ava pouzdanost sustava i olak\'9aava njegovu instalaciju, odr\'9eavanje i servisiranje.
\par \tab Na Sl. 2. prikazana je op\'e6a hijerarhijska struktura u procesnom upravljanju. S desne strane je blokovski skicirana hijerarhijska struktura sustava nadzora baterije. Veze prikazane me\'f0u modulima su logi\'e8
ke, tj. programirane, ali su svi dijelovi sustava fizi\'e8ki povezani serijskom sabirnicom kao \'9ato prikazuje Sl. 1. [3].
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\par }\pard \qc \li0\ri0\sa120\nowidctlpar\tx450\faauto\rin0\lin0\itap0 {\b\fs22\insrsid1443569 Sl. 2. Hijerarhijski nivoi distribuiranog procesa
\par }\pard \qj \li0\ri0\nowidctlpar\tx450\faauto\rin0\lin0\itap0 {\fs22\insrsid1443569 \tab Hijerarhijska struktura s raspodijeljenom inteligencijom omogu\'e6
ava mjerenje i predobradu signala na mjestu nastanka, u pojedinim prostorima podvodnog vozila, te pretvorbu svih mjerenih veli\'e8ina u digitalni oblik, pogodan za prijenos ra\'e8unalnom mre\'9eom (princip inteligentnih senzora). Na ovaj na\'e8
in  izbjegava se velik broj signalnih kabela, smanjuju tro\'9akovi njihovog postavljanja, ispitivanja i odr\'9eavanja. S druge strane ugra\'f0en je ve\'e6i broj ra\'e8unalnih sustava, \'9a
to bi moglo voditi na pomisao da su ovakvi sustavi skuplji. Pored razlike u cijeni ko\'9atanja i postavljanja kabela za centraliziranu i distribuiranu varijantu, \'e8injenica je da funkcionalno ra\'9a\'e8lanjenu aplikaciju mo\'9ee izvr\'9aavati vi\'9a
e slabijih (jeftinijih!) ugra\'f0enih ra\'e8unalnih sustava, dok je kod centralizirane varijante potrebno primijeniti ja\'e8u ra\'e8unalnu platformu
 (skuplju i za procesorski i za periferni dio!). U smislu sklopovske pouzdanosti i dalje imamo jednak broj kriti\'e8nih to\'e8aka (ulazno-izlaznih su\'e8elja), samo su sada fizi\'e8ki raspodijeljene po objektu. Razlika je u ve\'e6
em broju procesorskih modula koji su ionako najpouzdanija to\'e8ka sustava, a sada je jo\'9a aplikacija funkcionalno ra\'9a\'e8lanjena, pa je time raspodijeljeno optere\'e6enje kakvo bi bilo na jednom procesoru centralizirane varijante. Ni\'9ea cijena odr
\'9eavanja, lako pro\'9airivanje, nadogradnja i mogu\'e6nost integracije s drugim sustavima u sustav upravljanja cijelim objektom, dodatno poja\'e8avaju razloge kori\'9atenja ovakve koncepcije. Na Sl. 1. mo\'9ee se vidjeti fizi\'e8
ka raspodjela pojedinih ure\'f0aja po prostorima podvodnog vozila, kako je predvi\'f0eno idejnim projektom.
\par \tab Otvorenost sustava mora omogu\'e6iti povezivanje ure\'f0aja razli\'e8itih proizvo\'f0a\'e8a, ali i povezivanje i pro\'9a
irivanje sustava po vertikali i po horizontali hijerarhijske strukture (Sl. 2.). Ponovno je potrebno primijeniti neki od standarda koji omogu\'e6uju ovakvo povezivanje.
\par 
\par }\pard \qj \li0\ri0\sa120\nowidctlpar\tx720\faauto\rin0\lin0\itap0 {\b\fs22\insrsid1443569 2.1 Odabir ugra\'f0enih ra\'e8unalnih sustava i integracija procesne mre\'9ee
\par }\pard \qj \li0\ri0\nowidctlpar\tx450\faauto\rin0\lin0\itap0 {\fs22\insrsid1443569 \tab Faze koje smo pro\'9ali prilikom definiranja ra\'e8unalnih platformi, u svakom slu\'e8aju kre\'e6u od analize tr\'9ei\'9ata. Ova faza je posebno va\'9e
na kod prelaska na novu tehnologiju. Mo\'9ee se ra\'e8unati da je u na\'9aim uvjetima za dobivanje novih informacija potrebno otprilike dva do tri mjeseca (fax, po\'9ata, telefon). Uzimaju\'e6i u obzir \'e8injenicu da promjene na industrijskom ra\'e8
unalnom tr\'9ei\'9atu postaju zna\'e8ajne prakti\'e8no ve\'e6 svakih \'9aest do dvanaest mjeseci, proizlazi da bi analiza tr\'9ei\'9ata trebala biti obvezatan segment djelatnosti in\'9eenjera koji se bave ovim podru\'e8
jem, neovisno o tome da li je konkretan projekt u tijeku ili ne.
\par \tab S jedne strane imamo ponudu na svjetskom tr\'9ei\'9atu, a s druge probleme uvoza vezane za promjenjivo politi\'e8ko stanje i koordinaciju u lancu naru\'e8itelj opreme-uvoznik-banka-\'9a
pediter-inozemna firma (sporost financijskog prometa s inozemstvom, dodatne provjere uslijed politi\'e8kog stanja, potvrde za osloba\'f0anje od carine, rokovi va\'9eenja predra\'e8una, potvrda narud\'9ebe i sl.). Premda su proizvo\'f0a\'e8
ki rokovi isporuke obi\'e8no ispod \'9aest tjedana, u slu\'e8aju slabo organizirane nabavne slu\'9ebe, oni se mogu vi\'9aestruko pove\'e6ati i stvoriti dodatne probleme za razvojni tim.
\par \tab Na Sl. 3. prikazana je shema razvoja koja je primijenjena na ovom projektu. Osnovni razlog kori\'9atenja dvije razli\'e8ite ra\'e8unalne platforme izvedene od MCS-51 i 80x86 familije mikroprocesora je u razli\'e8
itim zahtjevima koji se postavljaju na pojedine ugra\'f0ene ra\'e8unalne sustave, ovisno o njihovoj namjeni.
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\fs22\insrsid1443569 
\par }\pard \qc \li0\ri0\sa120\nowidctlpar\tx450\faauto\rin0\lin0\itap0 {\b\fs22\insrsid1443569 Sl. 3. Struktura razvoja ugra\'f0enih ra\'e8unalnih sustava
\par }\pard \qj \li0\ri0\nowidctlpar\tx450\faauto\rin0\lin0\itap0 {\fs22\insrsid1443569 \tab Mikrokontroleri bazirani na Intelovoj 8-bitnoj arhitekturi MCS-51, predstavljaju vrlo efikasno rje\'9aenje za primjenu u upravljanju i nadzoru, obzirom na razli\'e8
ite sklopovske elemente integrirane u samom mikrokontroleru (analogno-digitalni pretvara\'e8i, impulsno-\'9airinska modulacija, broja\'e8i, memorije razli\'e8itog tipa, prekidna logika ...), \'9ato omogu\'e6ava relativno jednostavan dizajn tiskane plo\'e8
ice (PCB), ali i efikasno upravljanje periferijom. Veliki broj derivata ove arhitekture koje proizvode renomirani proizvo\'f0a\'e8i \'9airom svijeta (Siemens, Philips, OKI, Signetics, Harris, Dallas, itd.) na\'e8
inio je od ove Intelove arhitekture industrijski standard. Uz visoke komunikacijske mogu\'e6nosti ovih mikrokontrolera, sve to \'e8ini ih odli\'e8nim izborom za nivo perifernih ure\'f0aja u distribuiranom sustavu (field level, Sl. 2.). Pored mogu\'e6
nosti nabavke \'e8ipova nekog od spomenutih proizvo\'f0a\'e8a i vlastitog razvoja modula, na tr\'9ei\'9atu je mogu\'e6e na\'e6i i sve ve\'e6
i izbor gotovih modula baziranih na derivatima MCS-51 familije (iSystems, Phytec, ...). Siemensovi derivati SAB8051x serije (posebno SAB 80C517A s 16-bitnom aritmeti\'e8kom jedinicom) ve\'e6 omogu\'e6avaju dovoljne performanse za primjenu na niv
ou procesnih podsustava (cell level, Sl. 2). Upravo ova serija mikrokontrolera primijenjena je i u nekim vrlo uspje\'9anim programabilnim logi\'e8kim kontrolerima (PLC) kao \'9a
to su npr. Siemensov Simatic S5-95 i Klockner-Moellerovi PS-306/316. Posljednja Siemensova serija mikrokontrolera SAB50X, podr\'9eava frekvenciju signala takta do 40MHz, \'9ato zna\'e8i da se oko 60% instrukcija (jednociklusnih) izvr\'9a
ava za 333ns. Ovakvu ekspanziju MCS-51 arhitekture prati i odli\'e8na ponuda programske podr\'9ake, od prevodilaca za razne jezike, simulatora, do biblioteka rutina za rad u realnom vremenu, komunikacije, PID i sli\'e8
no (firme poput Keil, Phytec, Ashling, Drumlin, TMG, iSystems, ...).
\par \tab Drugo opredjeljenje u razvoju ide prema ugra\'f0enim ra\'e8unalnim sustavima s 80x86 kompatibilnim procesorima. Tome je vi\'9ae razloga. Kompletan razvoj oko spomenute familije MCS-51 vr\'9ai se na IBM/PC kompatibilnim ra\'e8unalima; dakle, svi kori
\'9ateni alati predvi\'f0eni su za DOS operativni sistem. Razvojni tim ima veliko iskustvo u razvoju na PC ra\'e8unalima, a najve\'e6i izbor razvojnih alata postoji upravo za DOS operativni sistem. Kori\'9a
tenjem DOS-a i Borlandovog C/C++ razvojnog paketa omogu\'e6ena je i nabavka \'e8itavog niza pomo\'e6nih biblioteka razli\'e8ite namjene od vi\'9ae proizvo\'f0a\'e8a (rad u realnom vremenu, grafi\'e8ke, mjerne, matemati\'e8ke i komunikacijske rutine, mre
\'9ena podr\'9aka, ...). Velika ponuda donosi kvalitetu i ni\'9eu cijenu. Kori\'9atenjem ROM-DOS operativnog sustava (Datalight) dobiva se kompatibilnost ciljnog i razvojnog sustava. U na\'9aem je slu\'e8aju predvi\'f0ena upotreba PC/
DOS kompatibilnog ugra\'f0enog ra\'e8unalnog sustava na nivou procesnog upravljanja (process level, Sl. 2.). Na tom je nivou redovito su\'e8elje prema \'e8ovjeku (Man Machine Interface). Prednost ovakve ra\'e8unalne platforme ponovo dolazi do izra\'9e
aja kroz veliki izbor standardnih VGA monitora (LCD, CRT, EL) i grafi\'e8kih kartica, te \'e8itav niz pomo\'e6nih programerskih biblioteka ili prilagodljivih programskih aplikacija. Spajanje razli\'e8itih perifernih ure\'f0aja (pisa\'e8, crta\'e8, mi\'9a
, komandna ru\'e8ica, ...) mogu\'e6e je tako\'f0er izvr\'9aiti na standardan na\'e8in uz veliku ponudu takvih ure\'f0aja i prate\'e6e programske podr\'9ake na tr\'9ei\'9atu.
\par \tab Na Sl. 3. mogu\'e6e je primijetiti uniformnost razvojne strukture za ove dvije razli\'e8ite ra\'e8unalne platforme. Glavni na\'e8ini kojima je postignuta vrlo dobra transparentnost razvojne strukture o ra\'e8unalnoj platformi su:
\par }\pard \qj \fi-274\li994\ri0\nowidctlpar\tx990\faauto\rin0\lin994\itap0 {\fs22\insrsid1443569 \bullet \tab kori\'9atenje PC/DOS kompatibilnih ra\'e8unala u razvoju obje platforme,
\par \bullet \tab kori\'9atenje C jezika i standardnog alata (Borland i Keil) te gotovih biblioteka s pomo\'e6nim rutinama od razli\'e8itih proizvo\'f0a\'e8a u razvoju obje platforme,
\par \bullet \tab kori\'9atenje standardnog mre\'9enog protokola (CAN) s istim aplikativnim slojem u obliku C biblioteke za obje platforme (phyPX).
\par }\pard \qj \li0\ri0\nowidctlpar\tx450\faauto\rin0\lin0\itap0 {\fs22\insrsid1443569 
\par }\pard \qj \li0\ri0\sa120\nowidctlpar\tx1701\faauto\rin0\lin0\itap0 {\b\insrsid1443569 3. ZAKLJU\'c8AK
\par }\pard \qj \li0\ri0\nowidctlpar\tx450\faauto\rin0\lin0\itap0 {\fs22\insrsid1443569 \tab Vezanost na razvojne alate i ra\'e8unalne platforme koje imaju sve ve\'e6u primjenu i zna\'e8ajnu akumuliranu svjetsku bazu znanja i programa, osigurava tehnolo\'9a
ko i olak\'9aava funkcionalno unaprije\'f0enje. Pod tehnolo\'9akim  unaprije\'f0enjem misli se na pove\'e6anje mo\'e6i ra\'e8unalnog sustava samim tehnolo\'9akim razvojem odabrane ra\'e8unalne platforme, pri \'e8emu je to stvar proizvo\'f0a\'e8a koji podr
\'9eavaju odabranu ra\'e8unalnu platformu, odnosno stvar tr\'9ei\'9ata. Funkcionalna nadogradivost predstavlja programsko-sklopovska pro\'9airenja aplikacije koja su stvar projektanta sustava, gdje u prikazanom slu\'e8aju stvar uvelike olak\'9aav
a oslonjenost na razvojne alate, koje sami proizvo\'f0a\'e8i razvijaju u skladu sa zahtijevima i  potra\'9enjom na tr\'9ei\'9atu (alati kori\'9ateni i na komercijalnom tr\'9ei\'9atu).
\par \tab Osnova svega je uvid u situaciju na svjetskom tr\'9ei\'9atu, redovito pra\'e6enje i primjena raspolo\'9eivih dostignu\'e6a, kao i dobar organizacijski okvir za kvalitetan timski rad,  presudan u ovom podru\'e8ju. Upravo je organizacijski okvir naj
\'e8e\'9a\'e6i krivac za lo\'9ae rezultate. Stoga, preostaje nada da \'e6e ISO 9000, kojemu je organizacijski okvir polazi\'9ate, te drugi spomenuti standardi, popraviti takvo stanje.
\par 
\par }\pard \qj \li0\ri0\sa120\nowidctlpar\tx1701\faauto\rin0\lin0\itap0 {\b\insrsid1443569 4. LITERATURA
\par }\pard \qj \fi-720\li720\ri0\nowidctlpar\tx720\faauto\rin0\lin720\itap0 {\fs22\insrsid1443569 [1]\tab K. Bender, }{\i\fs22\insrsid1443569 Profibus}{\fs22\insrsid1443569 , Prentice Hall International (UK) Ltd, Hertfordshire, 1993.
\par [2]\tab O. Feger, }{\i\fs22\insrsid1443569 Die 8051-Mikrocontroller-Familie vom 8051 zum 80C517A}{\fs22\insrsid1443569 , Feger+Reith, Traunstein, 1990.
\par [3]\tab A. Klai\'e6, "Sustav nadzora baterije podvodnog vozila", }{\i\fs22\insrsid1443569 ELMAR '94, }{\fs22\insrsid1443569 rujan 1994., 52-56
\par [4]\tab J. \'8akare, "Norme za osiguranje kvalitete programljivih elektroni\'e8kih sustava u brodskoj automatizaciji", }{\i\fs22\insrsid1443569 Automatizacija u prometu '94, }{\fs22\insrsid1443569 prosinac 1994., 99-102
\par [5]\tab F. Jovi\'e8, }{\i\fs22\insrsid1443569 Kompjutersko vo\'f0enje procesa}{\fs22\insrsid1443569 , Zveza organizacij za tehni\'e8no kulturo Slovenije, Ljubljana, 1988.
\par [6]\tab PHYTEC Me\'dftechnik GmbH, }{\i\fs22\insrsid1443569 CAN Development Kit Dokumentation}{\fs22\insrsid1443569 , PHYTEC Me\'dftechnik GmbH, Mainz, 1994.
\par }}