Real Time Application Interface focused on servo motor control

摘要: The work describes how to use modified GNU/Linux, Real Time Application Interface operating system. It provides mechanisms for developing hard real time task and related features. System architecture some main features are discussed. Two parameters: latency jitter collected. Additionally the is measured compared with RTAI Matlab/Simulink R © Windows Target. Some basic tests performed e.g. a square wave sine were generated results shown. goal of paper develop servo motor control Linear Quadratic based algorithm used as two layer algorithm. proportional controller calculated in first layer. Paramters this obtained second benefits from special, multilayer system structure. In comparison same developed its Target extension. shown graphical form.