Study On Hardware-in-loop Simulation Based On Linux/RTAI Embedded System

In recent years, as Hardware-in-Loop Simulation technology is more and more access tothe national and the international community’s attention,it has been used in industrialproduction and weapons of all walks of life.However, Hardware-in-Loop Simulation systemestablish a high cost makes it difficult to apply in the ordinary products can improve people’sliving standard.Therefore, based on the principle of developing low cost Hardware-in-LoopSimulation system, this paper designs a embedded Hardware-in-Loop Simulation systembased on Linux/RTAI.According to the research status at home and abroad put forward the demand for lowcost urgently of Hardware-in-Loop Simulation. According to the level of the stability of theembedded processor, processing speed, the market price factors, such as choosingAT91RM9200(ARM9) as the central processing unit of the simulation target, and thesimulation was designed and developed the hardware circuit of the target. Through the RTAI-Lab research framework of Hardware-in-Loop Simulation system, clear its model byMatlab/Simulink/RTW code generation mechanism, and according to the principle of thedevelopment of the corresponding Makefile, make its can compile executable file ARM9models.In this paper, through the start process of U-Boot and hardware, the researches on themechanism of the access to AT91RM9200(ARM9) is one of the simulation hardwareconfiguration changes, completed the U-the transplantation of the Boot, implementation ofthe Linux operating system Boot.Through the study of the Linux RTAI real-time reconstruction scheme, identified basedon open source Linux/RTAI dual-core real-time operating system simulation model of thetarget real-time operation environment, and through processing of AT91RM9200RTAI TCmodule method modification, implements the RTAI transplantation on AT91RM9200.Comedi drive as a real-time drive, based on the Linux operating system to providesupport for the data acquisition card driver. In this paper, through the study of the drivenframework implementation mechanism, and the relationship between system calls, modifieddeveloped for arm9-based embedded real-time simulation for the target drive. To provideRTAI real-time model code calls.Through the above content, make the model by Matlab/Simulink/RTW smoothlygenerates ARM9model code, model code in Linux/RTAI real-time operation environmentand through Comedi drivers communicate with physical, so as to realize the low cost of semiphysical simulation system.Finally, this paper applies the Hardware-in-Loop Simulation in the controller system of inverted pendulum system which is a typical unstable system. LQR optimal control algorithmis applied to build the controller, the controller of pure digital simulation model and thesimulation results of inverted pendulum is comparative, validate the usability and feasibilityof the low cost solution Hardware-in-Loop Simulation.