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Vol: 53(67) No: 2 / June 2008 Simulation of Real-Time Distributed Networked Control of Rotational Quanser Experiments using TrueTime and Matlab Cosmin Ionete Department of Automatic Control, University of Craiova, Faculty of Automation, Computers and Electronics, A.I.Cuza Street, No. 13, 200585, Craiova, Romania, e-mail: cosmin@automation.ucv.ro Dan Selisteanu Department of Automatic Control, University of Craiova, Faculty of Automation, Computers and Electronics, A.I.Cuza Street, No. 13, 200585, Craiova, Romania Dorin Sendrescu Department of Automatic Control, University of Craiova, Faculty of Automation, Computers and Electronics, A.I.Cuza Street, No. 13, 200585, Craiova, Romania Dorin Popescu Department of Automatic Control, University of Craiova, Faculty of Automation, Computers and Electronics, A.I.Cuza Street, No. 13, 200585, Craiova, Romania Monica Roman Department of Automatic Control, University of Craiova, Faculty of Automation, Computers and Electronics, A.I.Cuza Street, No. 13, 200585, Craiova, Romania Dragos Surlea Department of Automatic Control, University of Craiova, Faculty of Automation, Computers and Electronics, A.I.Cuza Street, No. 13, 200585, Craiova, Romania Keywords: networked control, distributed control, robust control, real-time simulation Abstract The real-time implementation of a control law is sometimes a difficult task because of the real-time environment that was not taken into account. The design of the control law is the control engineer task and his real time implementation is the job of the software engineer. The TrueTime MATLAB/Simulink real-time extension gives the possibility to a system engineer to deal with both design and real time implementation of the control law. TrueTime is a MATLAB/Simulink-based tool for simulation of real time distributed control systems. We shall emphasize the differences between the classical simulation and simulation of a real-time network distributed control. In this article we present a complex case of a control system: two Quanser experiments (flexible beam and inverted pendulum) and two real-time robust controllers with a distributed network control architecture. Using simulation results we can choose between the scheduling strategies in order to select the best one. We can also simulate the network congestion, package lost and computational time influence into the overall control system performances. This is the first and necessary step in implementing embedded systems. References [1] D. Henriksson, A. Cervin and K.E. Årzén, “TrueTime: Simulation of control loops under shared computer resources”, Proceedings of the 15th IFAC World Congress on Automatic Control. Barcelona, Spain, 2002. [2] D. Henriksson, A. Cervin and K.E. Årzén, “TrueTime: Real-time Control System Simulation with MATLAB/Simulink”, Proceedings of the Nordic MATLAB Conference, Copenhagen, Denmark, 2003. [3] D. Henriksson, A. Cervin, TrueTime 1.13-Refernce Manual. Technical report, Department of Automatic Control, Lund Institute of Technology, 2003. [4] The Mathworks: MATLAB-Reference book. The MathWorks Inc., Natick, MA, 2000. [5] The Mathworks: Simulink: Dynamic System Simulation for MATLAB. The MathWorks Inc., Natick, MA, 2000. [6] C. Ionete, “TrueTime library for simulating simple Real-Time control systems”, Annals of the University of Craiova, no. 1, vol. 1 (28), pp. 13-20, 2004. [7] C. Ionete, “TrueTime library for simulating complex and distributed Real-Time control systems”, Annals of the University of Craiova, no. 2, vol. 1 (28), pp. 9-16, 2004. [8] Quanser Consulting Inc., MultiQ, Programming Manual. [9] Quanser Consulting Inc., Flexible Link Experiment ROTFLEX, 1998. [10] Quanser Consulting Inc., Rotary Inverted Pendulum ROTPEN, 1998. [11] M.Andersson, D. Henriksson, A. Cervin and K.-E. Årzén, “Simulation of wireless networked control systems”, Proceedings of the 44th IEEE Conference on Decision and Control and European Control Conference ECC, Seville, Spain, 2005. [12] A. Cervin, D. Henriksson, B. Lincoln, J. Eker and K.E. Årzén, “How does control timing affect performance?”, IEEE Control Systems Magazine, 23:3, pp. 16–30, 2003. [13] D.Decotigny, Bibliographie d’introduction à l’ordonnancement dans les systèmes informatiques temps-réel, Ph.D. Thesis Report, 2002. |