Hi Ales !
Your idea is excellent, its realisation would close a gap for
many control engineers, the missing link between control design
and simulation to its implementation. When I was working on my
dissertation I had a non linear model of an active magnetic
bearing system in simulink, and the state space controller
in a so-called "s-function" ( I did not trust Simulink in
recursively updating matrices represented by signals ).
There should be some m2c function in MATLAB to transform
m-code into c-code. Provided that a controller is written
as s-function, transforming the respective code in a real
time thread should be possible. Additionally, all dynamic
systems in Simulink are represented by this s-function
type model, with -I think- 6 sections, 0=init, 1=continuous
dynamic, 2 = discrete dynamics, 3=output, 4=next sample hit,
etc. If you do your controller in Simulink, generating the
c-code will yield a s-function in C.
I had sucessfully used the RT-workshop option in Simulink
to generate DOS code being executed as the only task running
on DOS ( a simple controller up to 32kHz on a Pentium 133)
Under Windows, there is (or was) a product called WinCon,
which does something simuliar, but due to Windows only
up to 1kHz. There is also an english company I cannot
remember the name of, which does real time control under
Simulink by providing a dll under MS-Windows.
What will be the procedure in using RTL and Simulink:
-Design your controller in MATLAB
-Realize it in Simulink or MATLAB
-Click "Make RTL-module"
-Start control (insmod module or download to board)
-Visualize data.
For a concrete realisation with RTL, some questions:
In Simulink DAQ boards are represented by nice, configurable
symbols. The respective object is linked to the controller
later. Moreover, data can be traced (in the DOS version)
to a file, how ever this works. What would be the interface
to the DAQ RT-driver ? Probably an interface to COMEDI with
specific calls from the MATLAB generated controller?
What should happen when the controller is running? Where are
data traced to and how can a controller be modified ?
In Simulink there are either Plots or Scopes for tracing
(and files, or directly into the MATLAB workspace ).
To shm as for the MATLAB workspace, or to fifos ?
peterw
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Dr. Peter Wurmsdobler
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