Real-time issues of transputers in high-performance motion control systems

The real-time issues related to using transputers to implement high-performance AC motor drive controllers because of their direct support for parallel processing are addressed. They include event response time, scheduling strategies, I/O, and real-time kernel performance. The implementation of part of a real-time kernal consisting of a multiple event handler and an efficient scheduler, to improve the transputer´s real-time performance, is described. In addition to supporting high-performance controller tasks, the real-time kernel implements features such as parameter sampling and user interaction. The kernel is intended to be a platform to support a highly programmable and configurable controller suitable for a wide range of motion control applications. Test results are presented to show the performance of the kernel