Four Legged Vehicle
Abstract:
Abstract. The report describes the modelling of two possible implementations of a control system for one of the legs of a four legged vehicle. The two studied implementations are based on different hardware architectures, one including five and the other including two micro controllers. In both architectures a CAN network is used to connect the processors. The hardware, the operating system and the implemented processes are modelled together with the control design and parts of the mechanical system. The model framework that is used is taken from the development of the AIDA tool-set which is a tool-set being developed for control system design and early analysis of real-time implementations. A coarse implementation analysis is performed for the two proposed solutions. The analysis includes utilisation tests of the processors and communication links, as well as communication time estimations for communications using the link. In the analysis, the control system is shown to be much too computation demanding to be implemented on the proposed hardware architectures. A further and more important conclusion for this study is that the AIDA models
Citations
| 2168 | Scheduling Algorithms for Multiprogramming in a Hard Real-Time Environment – Liu, Layland - 1973 |
