Adaptative high-gain extended Kalman filter and applications

tel-00559107, version 1 - 24 Jan 2011
4.3.4 Implementation Issues
4.3 real-time Implementation
Once the Live CD is loaded and the computer is running under the Linux distribution,
the real-time environment has to be activated following three stages:
1. several RTAI and COMEDI modules are loaded with the following shell commands (Cf.
[34], page 11) 21 :
insmod / usr / r e a l t i m e / modules / r t a i h a l . ko}
insmod / usr / r e a l t i m e / modules / r t a i u p . ko $\ sharp$or r t a i l x r t . ko}
insmod / usr / r e a l t i m e / modules / r t a i f i f o s . ko}
insmod / usr / r e a l t i m e / modules / r t a i s e m . ko}
insmod / usr / r e a l t i m e / modules / rtai mbx . ko}
insmod / usr / r e a l t i m e / modules / r t a i m s g . ko}
insmod / usr / r e a l t i m e / modules / r t a i n e t r p c . ko ThisNode =”127.0.0.1”}
insmod / usr / r e a l t i m e / modules / rtai shm . ko}
insmod / usr / r e a l t i m e / modules / r t a i l e d s . ko}
insmod / usr / r e a l t i m e / modules / r t a i s i g n a l . ko}
insmod / usr / r e a l t i m e / modules / r t a i t a s k l e t s . ko}
modprobe n i p c i m i o }
modprobe comedi }
modprobe kcomedilib }
modprobe c o m e d i fc}
insmod / usr / r e a l t i m e / modules / r t a i c o m e d i . ko }
2. the calibration of input/output signals is taken over by a routine provided with the
Comedi drivers. The corresponding shell commands are:
comedi \ c o n f i g /dev/ comedi0 n i \ pcimio
comedi \ c a l i b r a t e −−no−c a l i b r a t e −S ni6024e . c a l i b r a t i o n
chmod 666 /dev/comedi {∗}
During this calibration large amplitude step impulses are sent to the motor. In this
part of the procedure, it is essential to safety that the power supply BE OFF.
At the end of the calibration, when the routine stops, the voltage step IS UP (i.e. a high
amount of voltage is delivered as soon as one turns the power supply on). This problem
is addressed by implementing a (dummy) program 22 that generates any input signal
and sends it to the power supply. The corresponding executable is then run for a few
seconds. At the end of every RTAI-Lab generated program, output signals generated by
the program are reset to zero. Consider that this program is named end of load.cos. The
corresponding realtime executable, after compilation, is end of load.exe. The command
lines for a full and safe calibration are then:
comedi \ c o n f i g /dev/ comedi0 n i \ pcimio
comedi \ c a l i b r a t e −−no−c a l i b r a t e −S ni6024e . c a l i b r a t i o n
chmod 666 /dev/comedi {∗}
. / e n d of l o a d −f 5
21 Without Super User rights, those commands are ignored. Employing the sudo command is sufficient.
22 i.e. A clock, any signal (sine wave or step) and a Digital/Analog block.
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