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eeros_architecture:control_system:time_domains

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Time domains

Time domains comprise blocks which run with the same periodicity. Each time such a time domain executes everyone of its blocks runs in a predetermined way. A control system may have one or several time domains running with different periods.

Signal flow for a 1 ms filtered input into a 5 ms loop

Time Stamps

Each signals's value will be marked with a timestamp, indicating the exact time corresponding to the value of the represented physical quantity. This is for instance when the value was captured or generated.

The timestamp can be changed by blocks, if the algorithm influences the time base of the signal. This is typically the case in differentiation, integration or filtering.

The timestamp is needed for instance for operations performed between signals, which generally are not correct if the values don’t base on the same point in time. It also can be used for compensating any jitter or dead times.

Execution of Time Domains

Generally, time domains have to be executed with their periods having a fixed relationship, so called harmonic tasks. Please refer to Executor for further details.

eeros_architecture/control_system/time_domains.1489760121.txt.gz · Last modified: 2017/03/17 15:15 (external edit)