Rapid control prototyping with Scilab/Scicos/RTAI for PC-based ARM-based platforms

This document describes three didactic system with a Rapid Control Prototyping (RCP) suite based on Scilab/Scicos and a PC computer. Servomechanisms with wire signal transmission and PID as well as a fuzzy controller are presented. The servomechanism with wireless signal transmission is also described. As the RCP suite based on Scilab/Scicos/RTAI was successfully used in the servo controller development on a PC platform, the concept of a tool-chain for RCP on an embedded platform with ARM processor is discussed. The TS-7300 embedded system with RTAI real-time operating system is described. The changes in Scilab/Scicos needed to interface the generated controller code to TS-7300 are presented. The didactic use and a possible commercial use of the tool-chain is indicated. The didactic use is focused on controllers tuning, friction and long delays influence on servomechanism control and embedded control system development.