Performance assessment of a motion control application based on linux RTAI

The use of General Purpose Processors (GPP) in conjunction with Real Time Operating Systems (RTOS) derived from non real time operating systems gives new solutions to the industrial control designer. Several factors work towards this direction and bring advantages in terms of reduced time for develo...

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Bibliographic Details
Published inSPEEDAM 2010 pp. 687 - 692
Main Authors Chiandone, M, Sulligoi, G
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.06.2010
Subjects
Acceleration Control
Application software
Control systems
Costs
Jitter
Kernel
Linux
Motion control
Operating systems
Protection
Protocols
Real time systems
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Summary:The use of General Purpose Processors (GPP) in conjunction with Real Time Operating Systems (RTOS) derived from non real time operating systems gives new solutions to the industrial control designer. Several factors work towards this direction and bring advantages in terms of reduced time for development and low cost of deployment. In particular, the Real Time Application Interface (RTAI) is a real time extension for the Linux kernel with a real time interface available in high-level simulation tools and in user space programs. In this work, an experimental implementation of a single-axis motion control based on RTAI will be presented, along with an assessment of its real time performance. Feasibility of proposed solutions to implement multi-axes controls using a large number of I/O channels will be exploited as well.
ISBN:1424449863
9781424449866
DOI:10.1109/SPEEDAM.2010.5542055