Real-time simulation system based on Linux and RTW

In order to solve the problems such as the long development cycle of traditional simulation and the inability of digital simulation to reflect real-time, a real-time simulation system based on Linux and RTW is designed. The system realizes the seamless connection with MATLAB/Simulink graphical modeling, and researches for RTW code generation, Linux real-time performance improvement, TCP/IP communication between the Host and the Target, has realized the model configuration, code generation, code download, code compilation, program running, etc. The Human Computer interaction interface is developed with C-API (C file application program interface) to realize the system online parameter adjustment and signal monitoring. The real-time simulation system verifies the effectiveness of the system through real-time simulation of the emergency robot motor model.