Research&Realization On Key Technologies Of Semi-physical Simulation Platform Based On RTAI

The semi-physical simulation is an advantageous method of performance analysisand experimental verification for the control system. Because of its high approximationof the actual system, semi-physical simulation is widely used in the process of productdevelopment.This paper is for general functional requirements of the semi-physicalsimulation platform and does thorough research on some key technologies.Object code automatically generated is a key link in the semi-physical simulationprocess.The model can be quickly implemented on the target platform. This paper studiesRTAI-Lab’s Matlab/Simulink/RTW interface and analyzes the RTAI real-time object codeframework and automatic code generation mechanism.Then it is to prepare for thesubsequent expansion of the platform.The real-time communication between model and external hardware is a premise torealize semi-physical simulation. As the bridge between the simulation model andexternal hardware, real-time interface（RTI）bears the task of real-time communicationbetween the two. By the combination of Simulink and Comedi, this paper researches toextend real-time interface in the RTAI-Lab system frame, and develops a number ofreal-time interface module for the inverted pendulum control requirements.Simulation of monitoring and control is the main interactive content. This paperanalyzes the communication mechanism of Host and Target in the RTAI-Lab architectureand develops a simulation engine module and monitoring module focused on the fact thatwindows platform can not be used as the Host and realizes the simulation monitoringunder the Windows platform.Finally, the above research and development results are applied to the linear motorinverted pendulum control system semi-physical simulation process, make a bettersimulation results and furthermore verify the feasibility of this paper’s research. As wellas the research in the paper proposes a new scheme of Platform-based design ideas forinverted pendulum real-time control and lays a foundation for semi-physical simulationbased on the RTAI and Matlab.