PC-based feedback acceleration control using Linux RTAI

Linux operative system, extended with the real time application interface (RTAI), makes it possible to realize industrial motion controls. This requires general purpose processors (GPPs) instead of dedicated DSPs or microcontrollers. RTAI offers the possibility of designing and developing motion controls using high level object languages (i.e., Simulink). The main advantages brought using Linux-RTAI and a PC as a controller platform are: very reduced time for development, diagnostics, design of controls; cost reduction offered by the open-source status of the operating system; high availability of the hardware. This paper shows that such a system offers adequate digital programming and signal processing capabilities to make real time motion control applications. An industrial-PC based acceleration control is presented and points of strength of RTAI solution are shown.