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This book is about the design and implementation of real times software for the control of mechanical systems. The most appealing aspect of this book is the inclusion of useable C & C++ code, Matlab applications, and BridgeVIEW.
A History of Increasing Complexity. Mechatronic System Organization. Amplifiers and Isolation. Scope:The Unit Machine. Control. Real-Time Software. Nasty Software Properties. Engineering Design and Computational Performance. Control System Organization. Software Portability. Operator Interface. Multicomputer Systems: Communication. The Design and Implementation Process.
Example: Task Selection in a Process System. Tasks and the Control Hierarchy. Task Structure Examples. Simulation. More Task Structure Examples.
States and Transitions. Transition Logic Diagrams. Tabular Form for Transition Logic. Example: Pulse-Width Modulation (PWM). Transition Logic for the Process Control Example. Nonblocking State Code. State-Related Code. State Scanning: The Execution Cycle. Task Concurrency: Universal Real-Time Solution.
Language. Time. Program Format. Simulation. Simulation in Matlab. Intertask Communication. Real-Time Realization. Real-Time Realization with Matlab.
Simulation in C++. Templates for Simulation in C++(group-priority). PWM Simulation Using C++(group-priority). Simulation in C++(with TranRun4). Real-Time Realization with C++.
Communication Within a Process. Communication Across Processes.
Calibrated Time. Free-Running Timer. Interrupt-Based Timing.
Priority-Based Scheduling—Resource Shifting. Matlab Template for Minimum-Latency Dispatcher. Cooperative Multitasking Using C++. Preemptive Multitasking Modes. Realization of Interrupt-Based Dispatching.
Operator Interface Requirements. Context Sensitive Interfaces. User Interface Programming Paradigms. Mechatronics System Operator Interface. Operator Interface Programming.
Graphical Environments. The Times-2 Problem. Screen Change. Heat Exchanger Control in Bridgeview. Interprocess Communication: DDE. Putting It All Together.
Multiprocessor Architectures. TCP/IP Networking. Implementation of UDP. The Application Layer.
Control System Application Protocol. Startup of Distributed Control Systems. Testing the Application Protocol. Using the Control Application Protocol. Compiling.
The Java Language and API. Preconditions for Real-Time Programming in Java. Advantages of Java for Control Software Design. Java and the Task/State Design Method. The Current State of Real-Time Java.
Introduction. Goals. PLC Programming. The Task/State Model. State Transition Logic for a PLC. PLC Multitasking. Modular Design. Example: Model Railroad Control. Simulation - Portability.
The Assembly System. System Simulation. Development Sequence. Belt Motion Simulation (Glue00). Oven Temperature Simulation (Glue01). PID Control of Belt Position and Oven Temperature (Glue02). Better Control of Motion (Glue03). A Command Structure for Profiled Motion (Glue04). Clamps (Glue05).Robots (Glue06). Cure/Unload (Glue07). Making Widgets (Glue08).
The Gluing System. Simulation and Prototyping. The Project Components. Glue00: Conveyor Simulation. Glue01: An Oven Simulation. Glue02: PID Control. Glue03: The Operator Interface. Glue04: Motion Profiling. Glue05: Belt Sequencing. Glue06: The Glue Application Machine. Glue07: Transport Task Supervision. Glue08: The Completed Assembly System.
Getting Started. Writing Custom Tasks and States. Implementing State Transition Logic. Global Data and Intertask Messaging. Continuous vs. Intermittent Tasks. Scheduler Intervals. Execution Profiling. Intertask Messaging Across Different Processes. Tips And Tricks. Additional Information.