Real-Time Simulation of Modelica Models under Linux / RTAI
Gianni Ferretti, Marco Gritti, GianAntonio Magnani, G. Rizzi, P. Rocco · Virtual Community of Pathological Anatomy (University of Castilla La Mancha) · 2005
The paper presents a concept and its implementation software modules to obtain ready to run real-time simulation code directly from Modelica models. Basically, a Modelica special model building block has been developed supporting the denition of the realtime input /output variables, their communication with external tasks or systems (e.g. a real hardware and software controller), and the scheduling of the periodic execution of the simulation task. The special module links to the real-time operating system (Linux with extension RTAI) through a special purpose C library. The real-time simulation of a 7-DOF space robotic arm is presented as a test case.