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<H1><A NAME="SECTION00130000000000000000">
The Real Time Controls Laboratory, (RTiC-Lab)</A>
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<P>
Control may require an exhaustive tuning process during the early
stages of the ACS's life. During this stage, the controls engineer
performs thorough plant characterization and evaluation. Using this
new-found information, the controls engineer can then proceed to tune
the controller. For that, the controls engineer needs soft real time
access to plant I/O, controller states, controller parameters, and set
points.
<P>
The <I>Real Time Controls Laboratory</I> or <I>RTiC-Lab</I> (pronounced
Arctic-Lab) is explicitly designed by the main author of this work to
be used not only during these early stages of controller design and
plant characterization, but also during production monitoring and
control. This implies that this software is both intended to be a
research application tool and a commercial grade application. Designed
and tested at the University of Virginia's Rotating Machinery and
Controls Laboratory under application of AMB control, it provides an
environment in which to implement controller algorithms while
providing real time access to controller states, plant outputs,
controller actions, controller parameters, and other controller
information. All this information can be plotted and filtered - via
user defined filters - in soft real time. The user can further filter
the necessary data either in real time or <I>post mortem</I>. Last and
most importantly, the controller parameters can be updated in real
time through a user-defined graphical user interface.
<P>
RTiC-Lab incorporates several of the most critical scheduling
algorithms that are especially suited to AMB and any other system that
can use both fixed rate and event driven controllers. Priority
assignment has been employed with Liu and Layland's RMA scheduling
algorithm. Data is synchronized via priority inheritance protocols,
and is transmitted from the hard real time tasks to the graphical user
interface via real time FIFOs.
<P>
RTiC-Lab has two very important features not found in any other
current real time controls implementation platforms. The first and
most important one is that RTiC-Lab is and will be Open Source
Software. That is, users of RTiC-Lab can download the source code via
the web, and are heavily encouraged to add to and improve this
code<A NAME="tex2html17"
HREF="footnode.html#foot279"><SUP>1.11</SUP></A>. The second feature is that RTiC-Lab is designed to be
distributed over a common network of personal computers. That is,
RTiC-Lab can be used over a common 10/100 Mb Ethernet network. In
conclusion, RTiC-Lab has been designed to be free, extremely flexible,
organic, and powerful enough to handle very large tasks.
<P>
In order to understand the innards of RTiC-Lab, one must understand
RTLinux. RTLinux is described in what follows.
<P>
<BR><HR>
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<LI><A NAME="tex2html191"
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<LI><A NAME="tex2html192"
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<ADDRESS>
Michael Barabanov
2001-06-19
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