TY - JOUR
T1 - Open embedded real-time controllers for industrial distributed control systems
AU - Delgado, Raimarius
AU - Park, Jaeho
AU - Choi, Byoung Wook
N1 - Publisher Copyright:
© 2019 by the authors. Licensee MDPI, Basel, Switzerland.
PY - 2019/2
Y1 - 2019/2
N2 - This paper presents design details adopting open embedded systems (OES) as real-time controllers in industrial distributed control systems. OES minimize development cost and enhance portability while addressing widely known shortcomings of their proprietary counterparts. These shortcomings include the black box method of distribution which hinders integration to more complex systems. However, OES are highly dependent on the compatibility of each software components and essential benchmarking is required to ensure that the system can satisfy hard real-time constraints. To address these issues and the notion that OES will find broader distributed control applications, we provide detailed procedures in realizing OES based on an open source real-time operating system on various low-cost open embedded platforms. Their performance was evaluated and compared in terms of periodicity and schedulability, task synchronization, and interrupt response time, which are crucial metrics to determine stability and reliability of real-time controllers. Practical implementations, including the modernization of a multi-axis industrial robot controller, are described clearly to serve as a comprehensive reference on the integration of OES in industrial distributed control systems.
AB - This paper presents design details adopting open embedded systems (OES) as real-time controllers in industrial distributed control systems. OES minimize development cost and enhance portability while addressing widely known shortcomings of their proprietary counterparts. These shortcomings include the black box method of distribution which hinders integration to more complex systems. However, OES are highly dependent on the compatibility of each software components and essential benchmarking is required to ensure that the system can satisfy hard real-time constraints. To address these issues and the notion that OES will find broader distributed control applications, we provide detailed procedures in realizing OES based on an open source real-time operating system on various low-cost open embedded platforms. Their performance was evaluated and compared in terms of periodicity and schedulability, task synchronization, and interrupt response time, which are crucial metrics to determine stability and reliability of real-time controllers. Practical implementations, including the modernization of a multi-axis industrial robot controller, are described clearly to serve as a comprehensive reference on the integration of OES in industrial distributed control systems.
KW - Industrial distributed control systems
KW - Open embedded systems
KW - Real-time controller
KW - Real-time operating systems
KW - Xenomai
UR - http://www.scopus.com/inward/record.url?scp=85063529458&partnerID=8YFLogxK
U2 - 10.3390/electronics8020223
DO - 10.3390/electronics8020223
M3 - Article
AN - SCOPUS:85063529458
SN - 2079-9292
VL - 8
JO - Electronics (Switzerland)
JF - Electronics (Switzerland)
IS - 2
M1 - 223
ER -
