基于RTAI与Comedi的倒立摆控制系统实时接口设计

Real-Time Interface for Inverted Pendulum Based on RTAI and Comedi

以实时操作系统Linux-RTAI为支撑平台,将自由软件Comedi与Simulink结合,采用在S-Function中嵌入Comedi规范接口的方式,基于板卡PCI-6259开发用于倒立摆控制的实时接口模块。实验结果表明,该接口模块实时性强,精度高,运行稳定可靠。

Comedi interface is embedded in S-Function based on real-time operating system Linux-RTAI, combined with Simulink and Comedi. A real-time inverted pendulum control interface module based on board PCI-6259 is developed. The re- suits of experiment show that the interface block has characteristics of the strong real-time, high precision, stable and reliable.