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DISTRIBUTED EMBEDDED SYSTEMS « Metrotinette » DUPONT Vincent RAMOND Amélie SALVY Julien PowerPoint Presentation
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DISTRIBUTED EMBEDDED SYSTEMS « Metrotinette » DUPONT Vincent RAMOND Amélie SALVY Julien - PowerPoint PPT Presentation


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DISTRIBUTED EMBEDDED SYSTEMS « Metrotinette » DUPONT Vincent RAMOND Amélie SALVY Julien TASAYCO Victor VAUDANO Carole. I. Project presentation II. Network section III. Control section IV. Real Time section V. Results VI. Conclusion. CONTENTS.

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Presentation Transcript
slide1

DISTRIBUTED EMBEDDED SYSTEMS

« Metrotinette »

DUPONT Vincent

RAMOND Amélie

SALVY Julien

TASAYCO Victor

VAUDANO Carole

slide2
I. Project presentation

II. Network section

III. Control section

IV. Real Time section

V. Results

VI. Conclusion

CONTENTS
project presentation

Three similar locomotives controlled without any physical link

Three main aspects to consider

Objectives:

Constant distance between successive locomotives

→ No shock allowed

Data sending management

Project Presentation
slide4
Project's given components :

A CAN bus used for communication

A Cortex M3 for each locomotive

OSEK OS implemented in each microchip

Project Presentation
project presentation1
Project Presentation

Platform

architecture

control section

1. System model

Train motor model

A first-order linear system

State vector ( ∫position ; position ; speed )

Inputs (Command ; Disturbs)

Output (Position)

Control section
control section2
Control section

2. Single train control

slide10
No speed sensor implementation

→ State feedback based on position (speed obtained with derivation)

PID implemented from a LQR control

Control section
control section6
Control section

Speed and position feedback

Speed command based on speed and position errors

→ PI feedback