QMotor 2.0-a real-time PC based control environment

This paper describes QMotor 2.0, a QNX based single-processor software environment that allows the implementation of real-time control programs on standard Intel processor based personal computers (PCs). The control program, as well as the development tools and graphical user interface, can all execute simultaneously on the PC due to the deterministic response of the operating system. This architecture replaces the traditional multiprocessor Host/DSP board architecture used in control applications. Advantages of a single-processor system include reduced cost and complexity, as well as increased flexibility and upgradability. Since its development, QMotor 2.0 has been used successfully in all of the control experiments, including motor and robot control, active magnetic bearing experiments, web handling, and vibration control in flexible structures