在PC/104+與CAN BUS架構下實現以Linux-RTAI為基礎之分散式即時監控系統

Abstract

Most of today's industrial computers are applied to embedded systems because the industrial computers can be implanted with the operating systems to manage the peripheral equipments. The industrial computer can deal with multi-tasking efficiently by process scheduling. The digital signal processor has the advantage of highly computational capability, but it can’t deal with multi-tasking because of the lack of operating systems. This thesis is based on controller area network (CAN) bus network to construct a distributed real-time monitoring and control system. This system consists of subsystems of master, slave, and monitor. The master subsystem is constructed by a PC/104+, Linux-RTAI operating system and PCI to CAN communication interface. There are two slaves with the cores of digital signal processors (DSP). One is to control an inverted pendulum using the LQR controller, the other is to control a dc motor using the PID controller. The monitor subsystem consists of a monitoring interface and universal serial bus (USB) to CAN communication interface. In the experiments, the master subsystem sends the control commands to the slaves. The slaves excute the control tasks according to the received commands and return the responses to the monitor. The monitor is able to show the system responses on the screen to facilitate the system analysis. This thesis verifies the performance of the distributed control system through experiments.