現今控制系統的發展中，在控制器的硬體型態方面常用數位訊號處理器來實現，而數位訊號處理器雖具運算速度快之優點，但缺乏作業系統的管理，假使需處理複雜性較高的控制系統時，將無法達到多工(multi-task)的性能。本論文旨在發展Linux作業系統下運用多工的機制來實現即時控制系統，而控制的對象是單擺型天車系統，控制之目的為單擺型天車之定位抗搖晃控制，研究中並建構介面可透過網路連線，由遠端電腦下達即時更新輸入控制命令及調設控制器參數。在實作方面採用德州儀器公司(Texas Instruments, TI)所生產的DaVinci嵌入式開發平台，其內建有MontaVista Linux作業系統，核心處理器型號為TMS320DM6446。本論文藉由多工的設計方式，在MontaVista Linux作業系統上規劃出抗搖晃控制法則及遠端接收輸入命令之多執行緒(multithread)程式。首先接收由遠端透過網路所下達之位置命令後，再由DaVinci 嵌入式平台計算所設計的LQR控制力輸出，再搭配D/A轉換介面和馬達驅動電路完成台車定位控制並抑制單擺的搖晃。最後由實驗結果驗證出本論文所發展的系統可達到多工的運作模式，並且控制系統具有即時之性能。

In the modern control systems, digital signal processors (DSP) are commonly used to realize the controllers. Though computational capability of DSP is powerful, due to lack of the operating system, DSP can’t run on the complex control systems and is unable to fulfill multi-tasks. This thesis is to develop a real-time and multi-tasking control system based on Linux. The control objective is to achieve anti-sway control for the pendulum-type crane. In this study through a developed interface, the user can set the control commands and adjust controllers parameter on-line by the Internet. The system is realized through the DaVinci platform produced by Texas Instruments. This platform uses the MontaVista Linux operating system. The processor of this platform is TMS320DM6446. The multi-tasking operation of the system is based on the multithread program technique to carry out the control and the Internet communication processes. First the DaVinci platform receives the position command from the remote computer through the Internet, then this commands to is used to calculate the control voltage by the controller designed by the LQR technique. Finally, the DaVinci platform generates the control voltage to the motor driver through the D/A converter to fulfill position control of the cart and reduce sway of the pendulum. The experimental results show that the control system is able to carry out the multi-tasking operations with real-time performance.

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