Targeting the Scicos Codegenerator for embedded ... - Scilab

Rapid Controller Prototyping

Linux RTAI

Scicos

Implementation

Examples

Targeting the Scicos Codegenerator for embedded applications Ing. Roberto Bucher Scuola Universitaria Professionale della Svizzera Italiana (SUPSI)

Paris - 1.7.2009

Conclusions

Rapid Controller Prototyping

Linux RTAI

Scicos

Implementation

Examples

Objectives

(Prices in Euro) Core SW Control SW Graphical GUI Code generator RT target

Commercial Control design environment 1950.1000.3000.7500.3000.-

Proposed solution 0.0.0.0.0.-

Conclusions

Rapid Controller Prototyping

Objectives

Linux RTAI

Scicos

Implementation

Examples

Conclusions

Rapid Controller Prototyping

Linux RTAI

Scicos

Outline

1

Rapid Controller Prototyping

2

Linux RTAI

3

Scilab/Scicos and Linux RTAI

4

Implementation

5

Examples

6

Conclusions

Implementation

Examples

Conclusions

Rapid Controller Prototyping

Linux RTAI

Scicos

Implementation

Examples

Introduction

Control Design Loop specification

verification

modelling identification

implementation

control design

simulation

Conclusions

Rapid Controller Prototyping

Linux RTAI

Scicos

Implementation

Examples

Introduction

Rapid Controller Prototyping - Requirements

2 main components 1 2

An OS with hard real-time features A Computer Aided Control System Design environment including a code generator

→ Linux RTAI + RTAI-Lab + Scilab/Scicos

Conclusions

Rapid Controller Prototyping

Linux RTAI

Scicos

Implementation

Examples

Basics

The Linux RTAI project

Hard real-time extension to the Linux OS Based on the ADEOS pipeline (with some improvements!) Free Open Source Software (FOSS) Implementation of hard real-time controllers using general purpose hardware Same PC for the controller design, the hard real-time controller task and the soft real-time monitor task Hard real-time in kernel and user space Distributed control through the net rpc module

Conclusions

Rapid Controller Prototyping

Linux RTAI

Scicos

Implementation

Basics

Linux RTAI - Features

Latency: < 10µs depending on the HW Typical sampling frequencies: 1 . . . 10kHz

Examples

Conclusions

Rapid Controller Prototyping

Linux RTAI

Scicos

RTAI-Lab

The GUI application - xrtailab

Implementation

Examples

Conclusions

Rapid Controller Prototyping

Linux RTAI

Scicos

RTAI-Lab

The GUI application - xrtailab

PC with HRT task and xrtailab

Implementation

Examples

Conclusions

Rapid Controller Prototyping

Linux RTAI

Scicos

Implementation

Examples

RTAI-Lab

The GUI application - xrtailab

PC with HRT task

PC with xrtailab

Network

UDP/IP

Conclusions

Rapid Controller Prototyping

Linux RTAI

Scicos

Implementation

Examples

RTAI example 1

Systems controlled with Linux RTAI

Cycab (INRIA) Biped Robot (INRIA) http://www.inrialpes.fr/sed

Conclusions

Rapid Controller Prototyping

Linux RTAI

Scicos

Implementation

Examples

Conclusions

RTAI example 2

National Radio Astronomy Observatory controlled with Linux RTAI - West Virginia

http://www.gb.nrao.edu/43m/

Rapid Controller Prototyping

Linux RTAI

Scicos

Implementation

Examples

Add-ons

Add-ons for Scilab/Scicos

The link between Scilab/Scicos and Linux RTAI is implemented through: A code generator → RTAICodeGen .sci. A rtmain.c (main file for the real-time task) specific for the Scilab/Scicos environment. An external ”template Makefile” A new scicos palette RTAI-Lib.cosf. Macros for the new blocks (Scicos interface functions). A RTAI library specific for the new Scicos blocks (Scicos implementation functions).

Conclusions

Rapid Controller Prototyping

Linux RTAI

Scicos

Implementation

Examples

Conclusions

The code generator

RTAICodeGen .sci

The code generator used in RTAI is a modification of the standard Scicos code generator Only stand-alone generation with specific main procedure (rtmain.c) Sensors and actuators are integrated in the Scicos block diagram as specific custom peripheral blocks Each block can be identified by a name which is then referred in RTAI-Lab

Rapid Controller Prototyping

Linux RTAI

Scicos

Implementation

Examples

Conclusions

The code generator

Code generation Design

Sine COMEDI A/D comedi0 CH−0

COMEDI D/A comedi0 CH−0

Scope SCOPE

Rapid Controller Prototyping The code generator

Code generation Design

Superblock

Linux RTAI

Scicos

Implementation

Examples

Conclusions

Rapid Controller Prototyping

Linux RTAI

Scicos

Implementation

The code generator

Code generation Design

Superblock RTAICodegen .sci

Code

Examples

Conclusions

Rapid Controller Prototyping

Linux RTAI

Scicos

Implementation

Examples

Conclusions

The code generator

Code generation Design

Superblock Compiling and Link

Code

rtmain.c

libsciblk.a

Scilab lib

Rapid Controller Prototyping

Linux RTAI

Scicos

Implementation

Examples

Conclusions

The code generator

Code generation Design

Superblock Hard real-time stand-alone executable

Code

rtmain.c

libsciblk.a

RT exec

Scilab lib

Rapid Controller Prototyping

Linux RTAI

The code generator

Code generation -Details

Superblock

Scicos

Implementation

Examples

Conclusions

Rapid Controller Prototyping

Linux RTAI

Scicos

Implementation

The code generator

Code generation -Details

rtai.gen

Superblock

Examples

Conclusions

Rapid Controller Prototyping

Linux RTAI

Scicos

Implementation

Examples

The code generator

Code generation -Details

rtai.gen

Superblock

standalone.cmd

rtai.mak

Conclusions

Rapid Controller Prototyping

Linux RTAI

Scicos

Implementation

Examples

The code generator

Code generation -Details

rtai.gen

Superblock

standalone.cmd

rtai.mak

model.c

model Cblocks.c

Makefile

Conclusions

Rapid Controller Prototyping

Linux RTAI

Scicos

Implementation

The code generator

Target specific files - The “gen” file

rtai.mak standalone.cmd

Examples

Conclusions

Rapid Controller Prototyping

Linux RTAI

Scicos

Implementation

Examples

The code generator

Target specific files - The “cmd” file

[CCode,FCode]=gen_blocks() [Code,Code_common]=make_standalone42(); files=write_code(Code,CCode,FCode,Code_common); Makename=rt_gen_make(rdnom,files,archname); ok=compile_standalone();

Conclusions

Rapid Controller Prototyping

Linux RTAI

Scicos

Implementation

Examples

Conclusions

The code generator

Target specific files - The “mak” file all: ../$$MODEL$$ ... CC = gcc CC_OPTIONS = -O -DNDEBUG -Dlinux -DNARROWPROTO -D_GNU_SOURCE MODEL = $$MODEL$$ OBJSSTAN = rtmain.o common.o $$MODEL$$.o $$OBJ$$

SCILIBS = $(SCIDIR)/libs/scicos.a $(SCIDIR)/libs/poly.a $(SCIDIR)/libs/calelm.a OTHERLIBS = ULIBRARY = $(RTAIDIR)/lib/libsciblk.a $(RTAIDIR)/lib/liblxrt.a

CFLAGS = $(CC_OPTIONS) -O2 -I$(SCIDIR)/routines -I$(SCIDIR)/routines/scicos $(C rtmain.c: $(RTAIDIR)/share/rtai/scicos/rtmain.c $(MODEL).c cp $< .

../$$MODEL$$: $(OBJSSTAN) $(ULIBRARY) gcc -static -o $@ $(OBJSSTAN) $(SCILIBS) $(ULIBRARY) -lpthread $(COMED @echo "### Created executable: $(MODEL) ###"

Rapid Controller Prototyping

Linux RTAI

Scicos

Implementation

Examples

Scicos blocks

The new Scicos palette

Sine

Scope SCOPE

Mbx Send Ovw MBX1

COMEDI A/D comedi0 CH−0

Square

Meter METER

Mbx Rcv no blk MBX1

COMEDI D/A comedi0 CH−0

Step

Led LED

Mbx Send if MBX1

COMEDI DI comedi0 CH−0

extdata test.dat

SENSOR SENS

Mbx rcv blk MBX1

ACTUATOR ACT

Fifoout 0

COMEDI DO comedi0 CH−0

Fifoin 0

SEM wait SEM1

SEM signal SEM1

C RTAI Block

Conclusions

Rapid Controller Prototyping

Linux RTAI

Scicos

Scicos blocks

Specific blocks for RTAI-Lab Scope SCOPE

Meter METER

LED LED

Implementation

Examples

Conclusions

Rapid Controller Prototyping

Linux RTAI

Scicos

Scicos blocks

Specific blocks for RTAI-Lab Scope SCOPE

Meter METER

LED LED

Implementation

Examples

Conclusions

Rapid Controller Prototyping

Linux RTAI

Scicos

Scicos blocks

Specific blocks for RTAI-Lab Scope SCOPE

Meter METER

LED LED

Implementation

Examples

Conclusions

Rapid Controller Prototyping

Linux RTAI

Scicos

Scicos blocks

Specific blocks for RTAI-Lab Scope SCOPE

Meter METER

LED LED

Implementation

Examples

Conclusions

Rapid Controller Prototyping

Linux RTAI

Other palettes

Additional palettes

Scicos

Implementation

Examples

Conclusions

Rapid Controller Prototyping

Linux RTAI

Scicos

Implementation

Examples

The ”main” file

The main file rtmain.c

3 threads: Main thread rtMain Hard RT thread rt BaseRate Communication thread with the GUI client application rt HostInterface

Conclusions

Rapid Controller Prototyping

Linux RTAI

Scicos

Implementation

Examples

The ”main” file

The rt BaseRate thread NAME(MODEL,_init)();

SOFT real−time

WaitTimingEvent

NAME(MODEL,_isr)(double t);

HARD real−time

N End? Y

NAME(MODEL,_end)();

SOFT real−time

Conclusions

Rapid Controller Prototyping

Linux RTAI

Scicos

Implementation

Adding new blocks

Adding a new block

Each new block needs An interface function (“.sci”) An implementation function (“.c”)

Examples

Conclusions

Rapid Controller Prototyping

Linux RTAI

The inverted pendulum

The Inverted Pendulum

Scicos

Implementation

Examples

Conclusions

Rapid Controller Prototyping

Linux RTAI

Scicos

Implementation

Examples

The inverted pendulum

The Inverted Pendulum Particular of the RF encoder

Conclusions

Rapid Controller Prototyping

Linux RTAI

The inverted pendulum

The Inverted Pendulum

Scicos

Implementation

Examples

Conclusions

Rapid Controller Prototyping

Linux RTAI

Scicos

Implementation

Examples

The inverted pendulum

The Inverted Pendulum

Encoder+RF sender Driver

RF receiver i1

M1

φ1 CAN BUS

PC with HRT controller

Conclusions

Rapid Controller Prototyping

Linux RTAI

Scicos

Implementation

Examples

Conclusions

The inverted pendulum

The Inverted Pendulum

y u φ

Klqr

Reduced order obsever

Rapid Controller Prototyping

Linux RTAI

Scicos

Implementation

Examples

Conclusions

The inverted pendulum

The Inverted Pendulum The Scicos scheme 1

Switch 1 0.2

Scope SCOPE Safety block

Real Plant

ABS

Input_ref

LQR_controller

Sine Swingup_controller

Rapid Controller Prototyping Ball on beam

Ball on Beam

Linux RTAI

Scicos

Implementation

Examples

Conclusions

Rapid Controller Prototyping Ball on beam

Ball on Beam

Linux RTAI

Scicos

Implementation

Examples

Conclusions

Rapid Controller Prototyping

Linux RTAI

Scicos

Implementation

Examples

Conclusions

Ball on beam

Ball on Beam The Scicos scheme

1

extdata siginp.dat

Scope SCOPE

−K− Controllore + Osservatore

Ball on beam

Scope

Rapid Controller Prototyping

Linux RTAI

Scicos

Implementation

Examples

Conclusions

Ball on beam

Ball on Beam The anti-windup controller

1

1 x+=Ax+Bu y=Cx+Du

2 3

Mux

C + O Direct

+ 1

+ Sum

Saturazione x+=Ax+Bu y=Cx+Du

C + O Feedback

Rapid Controller Prototyping

Linux RTAI

Scicos

Implementation

Examples

Conclusions

Ball on beam

Ball on Beam The CANopen blocks

1

Epos canopen sync

Epos Analog 0x02 0

1

Epos motor I 0x02

Mathemati.. Expression

INIT ENC 1s X0

Epos encoder 0x02

INIT ENC 1s PHI0

num(z) den(z)

1

2

Rapid Controller Prototyping Ball on beam

Videos

Sample Videos

Linux RTAI

Scicos

Implementation

Examples

Conclusions

Rapid Controller Prototyping

Linux RTAI

Scicos

Implementation

Examples

Conclusions

Conclusions

Conclusions

Open source!!! Complete and stable. Able to solve complex control problems in a simple way. It runs parallel to a MATLAB/Simulink/RTW environment in my student laboratory

Rapid Controller Prototyping

Linux RTAI

Scicos

Implementation

Questions

Questions?

Thank You www.rtai.org www.dti.supsi.ch/∼bucher/scilab.html www.dti.supsi.ch/∼smt/laboO4.html

Examples

Conclusions