Design and Implementation of Real-Time Middleware for Reconfigurable Controller

In the design of reconfigurable controller,software modules of system not only satisfy the requirements of performance and precision,but also have the features of modularization,integration and reuse.If real-time middleware is putted into the design of controller and manages the interaction of modules,it is convenient to implement the reconfigurable of controller.It is necessary to put CORBA into RTLinux real-time kernel space in the construction of the middleware platform based on RTLinux and Real-time CORBA.In this paper,RTCK is presented first,which is an implementation of Real-time CORBA and minimum CORBA specifications in RTLinux real-time kernel space.Then,the GIOP protocol based on RTLinux MBuff driver and FIFO is implemented.Finally,a performance comparison and analysis between RTCK and TAO are also given.