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OSADL Articles:

2023-11-12 12:00

Open Source License Obligations Checklists even better now

Import the checklists to other tools, create context diffs and merged lists

2023-03-01 12:00

Embedded Linux distributions

Results of the online "wish list"

2022-01-13 12:00

Phase #3 of OSADL project on OPC UA PubSub over TSN successfully completed

Another important milestone on the way to interoperable Open Source real-time Ethernet has been reached

2021-02-09 12:00

Open Source OPC UA PubSub over TSN project phase #3 launched

Letter of Intent with call for participation is now available

Real Time Linux Workshops

1999 - 2000 - 2001 - 2002 - 2003 - 2004 - 2005 - 2006 - 2007 - 2008 - 2009 - 2010

Ninth Real-Time Linux Workshop on November 2 to 4, 2007, in Linz, Austria

Industrial serial digital PID controller in RTlinux

Juan F. Florez, Jaime O. Diaz

In the research and academic university enviroment, the clasic law of control proportional – integral – derivative (PID) is used in a parallel type realization (standard); in the commercial enviroment of industry, however, the PID is being used with a serial type realization because it presents suitable qualities like frecuency response, temporal domain and easy calibration. Additionally this PID includes anti windup (AW) and bumpless transfer (BT) techniques.

This paper explains the design and implementation process of a digital PID controller through a type serial realization including a filter for the differentiator, another one for the setpoint and a AW and BT tecnique. In the validation process, a DC motor´s velocity control plant wich includes an incremental encoder and a power driver is used. They are connected to the parallel port of a PC that run Rtlinux.

Rtlinux is used to calculate, to filter and to feedback velocity to the PID controller which sends the corrective action by using a PWM signal. The velocity control system has a software supervisor that is executed in linux. From this software, users are able to check the plant´s behavior and interact in line with the controller as if it was conventional industrial controller. GTK+extra tool is used for the implementation of the supervisor system.


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