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Development of a Real Time Control System for a Pressure Plant in an ARM-based Embedded Platform trough Scicos/Scilab/RTAI

Eleazar Sal y Rosas, Universidad Nacional de Ingeniería
Edwin Samanez, Universidad Nacional de Ingeniería
Jacinto Colan, Universidad Nacional de Ingeniería
Alex Valdez, Universidad Nacional de Ingeniería

This document describes the design and implementation of a low-cost high-performance real-time control for a hydro-pneumatic pressurizing plant based on Scilab/Scicos and Linux-RTAI. The embedded Linux with the RTAI extension is implemented on an embedded ARM9 board, adding hard real time capabilities to a general purpose operating system. We develop a tool chain for the target platform which involves the development of Linux drivers for data acquisition and communications peripherals. Due to the need for a continuous monitoring of control parameters, a general user interface trough an Ethernet communication based on Scicos/Scilab with RTAI-Lab is designed. As a result of the non-linearity of the plant response, a gain scheduling controller is chosen with successful results.