Real-time control based on Xenomai/Linux operating system

U radu je predstavljen testni sustav kojeg čini Beaglebone Black platforma sa programskom podrškom Xenomai/Linux operativnog sustava. Cilj rada je bio ukazati na mogućnosti korištenja testnog sustava za upravljanje u realnom vremenu. Dinamika značajnog broja industrijskih procesa zahtijeva upravljanje u realnom vremenu. Upravljanje u realnom vremenu zahtijeva posebnan način implementacije algoritma upravljanja, posebne hardverske komponente te posebnu programsku podršku. Razvojem ugradbenih računalnih sustava otvaraju se mogućnosti korištenja gotovih i ekonomičnih rješenja kao što je Beaglebone Black razvojna platforma. U radu je opisan testni sustav te su istražene mogućnosti njegove primjene na probleme upravljanja u realnom vremenu. Rezultati provjera ukazuju da se uz pomoć testnog sustava mogu ostvariti zadovoljavajuće razine efikasnosti kada su u pitanju vremenska ograničenja na upravljanje. Kao probni algoritam upravljanja koristi se klasični PID regulator, izveden u programskom jeziku C, razvijen unutar Xenomai/Linux strukture.This work presents a test system that consists of Beaglebone Black platform and real-time operating system Xenomai/Linux. Main objective was to analyze the possible applications on the real-time control problems. The dynamics of a major group of industrial processes demands a real-time control system. Real-time control uses dedicated forms of control algorithm implementation, with dedicated hardware components and software support. The ongoing development of the embedded systems opens a wide horizon for the applications of development boards like Beaglebone Black. This work presents a test system with a suitable analysis of the possible applications in the field of real-time control. The conclusion that can be drawn from the tests made is that the described test system can achieve high levels of efficiency, when it comes to the time demands on the control system response. Classical PID regulator implemented in C programming language under Xenomi/Linux structure was used as a test control algorithm