Page 3 - Summary
Summary In the Dynamics and Control Technology group of the department of Mechanical Engineering, dSPACE is a common choice for rapid control prototyping in multiple analog in/output set-ups. Forsmaller set-ups, up to 2 analog in/outputs, the TUeDACS QAD or AQI systems are usually used. Thebiggest a...
Page 5 - Contents
Contents Summary iii 1 Introduction 1 2 Implementation of soft- and hardware 3 2.1 Real-Time OS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 2.1.1 Soft and Hard Real-Time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 2.1.2 RTAI . . . . . . . . . ....
Page 7 - Chapter 1; Introduction
Chapter 1 Introduction A cost-efficient alternative for the widely used but expensive dSPACE systems has to be created. The Data Acquisition and Control System (DACS) in the "light-weight positioning" project is used asa carrier for this task. Within this project lies the scope of this train...
Page 9 - Chapter 2; Implementation of soft- and hardware; Soft and Hard Real-Time
Chapter 2 Implementation of soft- and hardware 2.1 Real-Time OS 2.1.1 Soft and Hard Real-Time With an ordinary Linux kernel it is not possible to handle interrupts for user processes with highest performance. This implies that no Real-Time performance can be guaranteed. To make this possibletwo kern...
Page 10 - Software: explanation and installation
4 CHAPTER 2. IMPLEMENTATION OF SOFT- AND HARDWARE • Since the RTOS and the application are linked together in a "single" execution space, system callmechanism is implemented by means of a simple function call (not using a software interruptwhich produces higher overhead). Having less overhea...
Page 11 - S-function board drivers
2.2. SOFTWARE: EXPLANATION AND INSTALLATION 5 2.2.2 S-function board drivers The source-code of the user space drivers and some kernel space routines for the two boards were supplied by the manufacturer [12]. This gave the opportunity to make a Real-Time driver which caninteract with Simulink using ...
Page 12 - Getting started; Checklist
6 CHAPTER 2. IMPLEMENTATION OF SOFT- AND HARDWARE The Acquisition Delay option in the AIn Simulink GUI has a big impact on the Ain driver function AiGetAIValue . First a command to acquire data is send to the PowerDAQ PD2-MF-16-500/16H board. The executable starts to evaluate the next command parall...
Page 15 - Chapter 3; Performance of the DACS
Chapter 3 Performance of the DACS To give an idea of what the DACS is capable of, in this chapter the performance is evaluated by means of experiments. Before any experiment can begin, a Connector Box (CBox) has to be connected.The CBox has 16 coaxial female connectors for Analog In and 16 for Analo...
Page 16 - Performance
10 CHAPTER 3. PERFORMANCE OF THE DACS Aout To Workspace1 Ain To Workspace Sine Wave3 Sine Wave2 PowerDaq PD2 MF Analog Input 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 PD2_MF_Series1 PowerDaq PD2 AO Analog Output 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 PD2_AO_Series1 [S9] [S8] [S7] [S6] [S5] [S4] [S3] [S2]...
Page 17 - Accuracy
3.2. ACCURACY 11 With the Acquisition Delay set to 10000[ ns ] , table 3.1 shows the maximal sample rates for three different sets of channels. This is without any controller, so only sending and acquiring data. Asan example, the procedure above is carried out for a set of 7 AIn and 7 AOut channels....
Page 18 - Discussion
12 CHAPTER 3. PERFORMANCE OF THE DACS 3.3 Discussion Once again it is stressed that the experiments described above are only mend to give a first im- pression. No hard conclusion can be drawn, merely some guesses of what to do to improve the per-formance and accuracy, because the DACS is not complet...
Page 19 - Chapter 4; Conclusions and Recommendations
Chapter 4 Conclusions and Recommendations Conclusions Two Simulink S-function driver blocks for the PowerDAQ boards have been realized, which make Hard Real-Time execution of Simulink models possible on a Linux RTAI-LXRT platform.Together with the custom made Connector Box, a rapid control prototypi...
Page 21 - Appendix A; Analog In file
Appendix A S-function C-code A.1 Analog In file /* Analog input S-function for: United Electronic IndustriesPowerDAQ board type: PD2-MF-16-500/16H Input Fifo size: 1024 samples CL FIFO Size: 256 entries Output Fifo size: 2048 samples Mfg. date: 01-JAN-2003 Cal. date: 21-NOV-2003 Firmware type: MFx r...
Page 25 - Analog Out file
A.2. ANALOG OUT FILE 19 A.2 Analog Out file /* Analog output S-function for: United Electronic IndustriesPowerDAQ board type: PD2-AO-16/16 Output Fifo size: 2048 samples Mfg. date: 01-Oct-2003 Cal. date: 24-Nov-2003 Firmware type: AO rev: 3.31/30819 (c) Maurice Schneiders, September 2004(c) Frederik...
Page 29 - Appendix B; Listings of hardware and software; Listing of hardware used:; Listing of software used:
Appendix B Listings of hardware and software Listing of hardware used: PC Dell OptiPlex GX270 CPU Intel R ° Pentium R ° 4, 2.6 GHz RAM 512 MB HD IDE, 19.5 GB Boards PowerDAQ board type: Analog In PD2-MF-16-500/16H Analog Out PD2-AO-16/16 monitor IIyama Vision Master 400 (horizontal sync range: 27-96...
Page 31 - Linux OS
Appendix C Installation of the Linux OS and extrasoftware C.1 Linux OS The Knoppix 3.3 distribution is used, which can be installed from CD. Put the CD in the drive and wait for Knoppix to start. Next, start the konsole window and type knx-hdinstall , which will start the harddisk installation. Clic...
Page 32 - Internet
26 APPENDIX C. INSTALLATION OF THE LINUX OS AND EXTRA SOFTWARE Doing this, the listed are packages being updated and being installed. When asked, choose to restart services. While installing kdm you have to choose the standard “display manager”. Choose the option kmd . The new compilers gcc and g++ ...
Page 33 - Appendix D; Preparation; Installation
Appendix D Matlab 6.1 D.1 Preparation Before we can start installing Matlab 6.1, some settings in Debian need to be changed. First of all it has to be possible to start programs from CD. Open /etc/fstab in any text-editor. In the same line as /dev/cdrom add the option exec . /dev/cdrom /cdrom iso966...
Page 34 - Configuration
28 APPENDIX D. MATLAB 6.1 • Simulink • Matlab Compiler • Real-time Workshop • FLEXm Check “Create symbolic links to Matlab and mex scripts” and choose /usr/local/bin as path. The display license number 0 is correct. D.3 Configuration After installation the FLEXm server should start automatically. Th...
Page 35 - Appendix E; RTAI; Requirements for RTAI; Compiling the kernel
Appendix E RTAI In this appendix it is assumed you are logged in as root. You will need it at least for installing the kernel and RTAI. E.1 Requirements for RTAI The required software for RTAI can either be copied from the CD or be downloaded from internet. After copying the source-code onto the com...
Page 37 - Bibliography
Bibliography [1] Linux COntrol and MEasurement Device Interface, "Comedi homepage",
