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DISTRIBUTED EMBEDDED SYSTEMS « Metrotinette » DUPONT Vincent RAMOND Amélie SALVY Julien

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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DISTRIBUTED EMBEDDED SYSTEMS « Metrotinette » DUPONT Vincent RAMOND Amélie SALVY Julien

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  1. DISTRIBUTED EMBEDDED SYSTEMS « Metrotinette » DUPONT Vincent RAMOND Amélie SALVY Julien TASAYCO Victor VAUDANO Carole

  2. I. Project presentation II. Network section III. Control section IV. Real Time section V. Results VI. Conclusion CONTENTS

  3. 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

  4. Project's given components : A CAN bus used for communication A Cortex M3 for each locomotive OSEK OS implemented in each microchip Project Presentation

  5. Project Presentation Platform architecture

  6. Network section

  7. 1. System model Train motor model A first-order linear system State vector ( ∫position ; position ; speed ) Inputs (Command ; Disturbs) Output (Position) Control section

  8. Control section

  9. Control section 2. Single train control

  10. No speed sensor implementation → State feedback based on position (speed obtained with derivation) PID implemented from a LQR control Control section

  11. Control section

  12. 3. Central control Control section

  13. Control section

  14. Control section

  15. Used to set up the speed profile above

  16. Control section Speed and position feedback Speed command based on speed and position errors → PI feedback

  17. Real time section

  18. Choice of a cheap implementation Stays safe anyways Conclusion

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