Distributed embedded systems Outline
Distributed embedded systems Outline
Distributed embedded systems Outline
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Decentralized local control<br />
• Common in machine control and<br />
automotive<br />
• Need for synchronization of level 1 loops<br />
with coordinator<br />
Level 2 Set-points and<br />
Coordination<br />
Network<br />
Level 1<br />
Feedback<br />
Feedback<br />
Ctrl<br />
Ctrl<br />
Feedback Ctrl<br />
Output<br />
Martin Törngren, Sept. 2010 – <strong>Distributed</strong> <strong>systems</strong><br />
Embedded <strong>systems</strong>,course, MF2042<br />
Input<br />
31<br />
Attitude control system in the<br />
science mode of operation<br />
From rate sensors<br />
Reaction wheel speed<br />
Hydrazine thruster<br />
Disturbances<br />
Target attitude<br />
Estimated attitude<br />
Mode<br />
logic<br />
Controller<br />
Controller<br />
Reactio<br />
n<br />
wheels<br />
Smart-1<br />
dynamics<br />
Rate<br />
Planetary<br />
system and<br />
Smart-1<br />
kinematics<br />
Estimation<br />
Star<br />
tracker<br />
Sun<br />
Sensors<br />
Martin Törngren, Sept. 2010 – <strong>Distributed</strong> <strong>systems</strong><br />
Embedded <strong>systems</strong>,course, MF2042<br />
32<br />
16
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