Abstract
This paper suggests a real-time simulation using two personal computers for control systems, primarily for control education. The experiment is composed of a PC for the controllers, a PC for the plant, an open network, a general-purpose computer-aided control system design (CACSD) package, a model toolbox, and a network box. Among various models in usual textbooks, 10 models are animated and can be simulated with other PC for the controllers. To reduce the effects of the time delay, particularly for fast plants, a time-scaling method is introduced for slow and fast motions. A network box is introduced for easy connection and programming of networks. A model toolbox is introduced for the various models of control systems. It is demonstrated that this real-time software-in-the-loop simulation will be very useful, particularly for control education.
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