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A Simple Test case: Pendulum Control
A test case is presented here: a remotely controlled inverse pendulum.
- MultiBody analysis: MBDyn running on a single machine, with a single hard real-time node
directly connected with the control node through a ethernet connection. RTAI-NetRpc handles the remote calls
over a RTNet layer.
- Real-time control: running on a single machine, with mixed hard/soft real-time network nodes.
The hard node is connected to the multibody solver, while the soft nodes can be accessed from the internet.
At each time step, the control process reads angular position and angular velocity of the pendulum
from a mailbox on the remote (MBDyn) node and writes the required controlling torque on
another remote mailbox to be read by MBDyn.
- Control monitoring: RTAI-Lab running from any node connected to the general-purpose network or
on the same machine running the control locally or via the loop-back network device.
Indeed the simulation may be started, stopped and monitored from any remote node.
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Fig.1 Soft/Hard RT Network Diagram
Fig.2 Pendulum Control Simulink Model
The Simulink controller is running on a computer connected to
the multibody simulation node over a hard real-time network
and to the monitoring node over a soft real-time network.
Control monitoring with RTAI-Lab may be run on this same machine connected
to the control process locally or via the loop-back network device.
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Fig.3 Nodes Screenshots
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This screenshot is taken from a node connected to
the controlling node over a soft real-time network.
XRTAI-Lab is running in the foreground, monitoring the pendulum control
on a remote node.
Meanwhile, more non-real-time applications using TCP/IP are running in
the background.
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