Hi all
I finally reach to generate RT code for a Linux PREEMPT RT target in
order to perform Rapid Controller Prototyping from Python.
The controller is developed under Python and standard C code is
generated. For example we compiled and charged such generated code
directly into dsPIC uController too.
Hybrid simulation is also possible starting from a verbal description of
the diagram schema.
Examples are available as pdf documents at my homepage under
http://robertobucher.dti.supsi.ch/python/python-examples/
At present there are some problems and improvements to be solved:
1) Graphical Block diagram editor: I have to generate the block Diagram
by hand. A tool (pyBlockEd) allows to create the strings for the diagram
description, but it is important to get a graphical editor in the future
2) Some functions from the slycot library give bad results: in
particular the calculation of pole placement (through SB01BD) by MIMO
systems gives very bad results. Of course the solution in MIMO case is
not unique, but the results in this case are very bad conditioned: does
somebody have already programmed, better algorithms for this
calculation? For example the place algorithm in Matlab gives by MIMO
systems good results...
The development is still in an initial phase but the results are
promising.
Feedbacks are welcome
Best regards
Roberto
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