Distributed Embedded Real-time Control Experiment System Research And Development

This thesis is based on the development of a distributed, embedded and real-time servo control experimentation system. To develop such a complex system, I did quite deep research in distributing and embedding technology. A distributed control system requires real-time communication over network;an embedded control system requires to generating control signal with high precise control cycle, so it's an embedded real-time control system. Then the basic goal of system architecture design is to meet these two "real-time" requirements. Aiming at this goal, the basic system architecture with both real-time middleware and embedded real-time OS is designed.1. The technology of distributed control and distributed middleware are introduced in this thesis, a real-time middleware called ACE/TAO used in system is also introduced in detail.2. Embedded system, embedded real-time OS, RTLinux and MiniGUI used in system are introduced separately.3. The development process of the experimentation system is discussed, including requirement analyzing, software and hardware architecture designing, selection of hardware, software development environment, customizing of embedded real-time RTLinux kernel and Building of the embedded Linux file system. Also an expectation of future development roadmap of the experimentation system is giving in the end of this thesis.The distributed, embedded and real-time servo control experimentation system designed by this thesis have got good results in the laboratory and reached the expected effects.