A Distributed Computer Testbed for Real-Time Control of Machinery

Abstract

This paper describes a control application model and a distributed computer testbed, developed for the purpose of studying distributed real--time control of machinery. Different control approaches are considered depending on the support provided by the distributed computer system. The importance of considering the real--time cooperation constraints of control components, within a control application, is emphasized and communication subsystem properties needed to fulfill them are proposed. Introduction We believe that a distributed control approach is a viable alternative for many mechanical applications including automobiles, industrial robots, production machines and rock drilling machines. With a distributed control approach, hardware and different levels of control are spatially distributed to actuators and sensors in the mechanical system. Benefits by a distributed control approach include: # Modularity (mechanical, hardware and software related). # Improved functionality and pe...