CN107024871A - Design of Network Control System based on TrueTime - Google Patents
Design of Network Control System based on TrueTime Download PDFInfo
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- CN107024871A CN107024871A CN201710274416.6A CN201710274416A CN107024871A CN 107024871 A CN107024871 A CN 107024871A CN 201710274416 A CN201710274416 A CN 201710274416A CN 107024871 A CN107024871 A CN 107024871A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B17/00—Systems involving the use of models or simulators of said systems
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Abstract
Network control system is a kind of full distributed, networking, the control system of Real-time Feedback, and its generation and communication system and control network are closely related.The research to network control system had a variety of methods in the past, but the present invention builds a network control system simulation model using direct current generator as controlled device with TrueTime tool boxes, illustrate sampling period, network delay, the influence of packet loss and system disturbance to NCS performances.Network delay, disturbance and packet loss can be obtained by emulation bigger, bigger is influenceed on systematic function, the sampling period is excessive simultaneously or the too small stability to system has a direct impact, sampling period can not be excessive or too small, the conclusion according to actual conditions progress reasonable selection is needed, this has certain help to deep understanding and research NCS.
Description
Technical field
The invention belongs to network control system field.
Background technology
Network control system (network control system, NCS) substantially belongs to a kind of distributed anti-in real time
Control system is presented, its chief component can be divided into four bulks：It is sensor, actuator, controller and controlled device respectively,
They are connected with each other by network, although not in same geographical position, can be but in communication with each other.When data message controller,
It is usually that network instead of traditional circuit using communication network as carrier when being transmitted between sensor and actuator,
So as to can just be understood when control controlled unit with remote control from this angle, network control system is one
The control system for controlling or monitoring at a distance some objects such as production line etc. can be reached by planting, and in this control process, be borrowed
What is helped is the function of the networks such as wireless network, internet.According to the difference of network structure insertion in the loop, network control system
There is point of broad sense narrow sense, the network control system of narrow sense referred herein generally uses fieldbus and EPA
Deng LAN, and generally the broad sense nets such as general purpose computer network such as Internet are used in the network control system of broad sense.
Although the network that both use is different, both control structures are similar.The present invention has easy to operate, convenient research
The influence to NCS performances such as sampling period, network delay, packet loss and system disturbance.This development to network control system
With certain researching value and realistic meaning.
The content of the invention
Present invention aims at a network control system based on TrueTime is designed, to study sampling period, net
The influence of network time delay, packet loss and system disturbance to NCS performances.Base has been laid in this further research to network control system
Plinth.
The operation scheme of the present invention.
The setting of emulation reference is carried out first：The communication module of network uses CSMA/AMP modes, the setting of minimum data frame
For 5bytes, data transmission bauds is 80kb/s, and in the absence of outside system disturbance, also the loss without system data, fixed
This scheduling strategy of priority prioFP is applied to each node, and the cycle of sampling chooses 10ms, between sensor and controller
Time delayτ sc =0.4ms, the calculating time of controllerτ c =0.5ms, the time delay between controller and actuatorτ ca =0.5ms.Then
To sampling period, network delay, packet loss and system disturbance carry out simulation study respectively.
Effect for the sampling period to NCS performances：Sampling period chooses 10ms（h=10）When curve be used as control system
The reference line of system emulation；If the sampling period is long（Sampling period is set to 20ms, by changing sampling period h=20）, can lead
The stability of cause system is deteriorated；When the sampling period is too short（Sampling period is set to 2.5ms, by change sampling period h=
2.5）, the load of network can be increased, make data-bag lost, and then influence the stability of system.
Effect for time delay to NCS performances：Influence of the time delay to NCS performances is very big, and it can reduce whole system
Stability.This emulation reference line be：τ=1.4ms（τ sc =0.4ms,τ c =τ ca =0.5ms）.The simulation curve of short time-delay is：τ
=9ms（τ sc =τ c =τ ca =3ms）.The simulation curve of long delay is：τ=13ms（τ sc =τ c =4ms,τ ca =5ms）.The energy from emulation
Enough see, in certain time delay range, system can keep stable.And in the case of long delay, the unstability of system increases
Plus, or even unstability.
Effect for packet loss to NCS performances：To a certain extent, a certain amount of data packetloss rate does not interfere with one
NCS monolithic stability, but if the loss of information data has exceeded some scope, it will hold system and can't stand, and then influences
The performance of network system, so make system unstable.Packet loss is configured by the parameter in NETWORK modules.
Effect for system disturbance to NCS performances：The effect of interfering nodes is by the input nonlinearities on transmission network
Signal, to control network load.In the present invention, can be by changing the relevant parameter of system disturbance module（Change parameter
Bwshare numerical value）To be adjusted to disturbing signal, and emulation show that system disturbance is bigger, to the steady of network control system
Qualitative effect is bigger, more than certain limit, can also make network control system unstability.
Brief description of the drawings
Fig. 1 is the network control system simulation model of the relevant Design of Network Control System based on TrueTime of the present invention
Figure.
The operating procedure of Design of Network Control System based on TrueTime is：
The setting of emulation reference is carried out first：The communication module of network uses CSMA/AMP modes, and minimum data frame is set as
5bytes, data transmission bauds is 80kb/s, and in the absence of outside system disturbance, also the loss without system data, fixed excellent
First this scheduling strategy of level prioFP is applied to each node, and the cycle of sampling chooses 10ms, between sensor and controller
Time delayτ sc =0.4ms, the calculating time of controllerτ c =0.5ms, the time delay between controller and actuatorτ ca =0.5ms.So
Afterwards to the sampling period, network delay, packet loss and system disturbance carry out simulation study respectively.
Effect for the sampling period to NCS performances：Sampling period chooses 10ms（h=10）When curve be used as control system
The reference line of system emulation；If the sampling period is long（Sampling period is set to 20ms, by changing sampling period h=20）, can lead
The stability of cause system is deteriorated；When the sampling period is too short（Sampling period is set to 2.5ms, by change sampling period h=
2.5）, the load of network can be increased, make data-bag lost, and then influence the stability of system.
Effect for time delay to NCS performances：Influence of the time delay to NCS performances is very big, and it can reduce whole system
Stability.This emulation reference line be：τ=1.4ms（τ sc =0.4ms,τ c =τ ca =0.5ms）.The simulation curve of short time-delay is：τ=
9ms（τ sc =τ c =τ ca =3ms）.The simulation curve of long delay is：τ=13ms（τ sc =τ c =4ms,τ ca =5ms）.The energy from figure
Enough see, in certain time delay range, system can keep stable.And in the case of long delay, the unstability of system increases
Plus, or even unstability.
Effect for packet loss to NCS performances：To a certain extent, a certain amount of data packetloss rate does not interfere with one
NCS monolithic stability, but if the loss of information data has exceeded some scope, it will hold system and can't stand, and then influences
The performance of network system, so make system unstable.Packet loss is configured by the parameter in NETWORK modules.
Effect for system disturbance to NCS performances：The effect of interfering nodes is by the input nonlinearities on transmission network
Signal, to control network load.In the present invention, can be by changing the relevant parameter of system disturbance module（Change parameter
Bwshare numerical value）To be adjusted to disturbing signal, and emulation show that system disturbance is bigger, to the steady of network control system
Qualitative effect is bigger, more than certain limit, can also make network control system unstable.
Claims (4)
1. the Design of Network Control System based on TrueTime, it is characterised in that：The network communication module（Network）Be by
What TrueTime tool boxes were provided, this mixed-media network modules mixed-media provides multiple network parameter and network mode, such as media access control
Agreement, network node number, transmission rate, data loss rate etc., mixed-media network modules mixed-media use time type of drive, when there is message turnover
During network, mixed-media network modules mixed-media startup work predefines multiple-task scheduling strategy in TrueTime and selected for emulation, for example, solid
Determine priority（Fixed Priority）, rate monotonic（Rate Monotonic）, the off period it is dull（DM, Deadline
Monotonic）, the minimum off period it is preferential（EDF, Earliest Deadline First）Deng.
2. a kind of Design of Network Control System based on TrueTime according to patent requirements 1, it is characterised in that：Described
Controller module, executor module, sensor assembly, interfering nodes module are provided by TrueTime tool boxes, interior in real time
Core module Truetime Kernel have flexible real-time kernel, embed A/D, D/A switching device interface, network interface（It is defeated
Enter output channel）, public resource（CPU, monitor, network）Scheduling and monitoring output port etc., this is to network control system
Design and research be very helpful.
3. a kind of Design of Network Control System based on TrueTime according to patent requirements 1, it is characterised in that：Described
Sensor assembly is to carry out periodic samples to process by the way of the time drives, and the task of described controller module is meter
Calculate control signal and the signal that sensor sends will be received and be sent to executor module, executor module is then driven in event
The control signal is performed under dynamic working method.
4. a kind of Design of Network Control System based on TrueTime according to patent requirements 1, it is characterised in that：Described
Interfering nodes module in network control system, the signal that it sends can simulate interference network service, and control system in network
The high-priority task of interference is performed in the node of system.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110471308A (en) * | 2019-07-17 | 2019-11-19 | 南京航空航天大学 | Aeroengine distributed control system simulation model modeling method based on TrueTime |
Citations (3)
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|---|---|---|---|---|
| CN101986231A (en) * | 2010-11-18 | 2011-03-16 | 海南大学 | Method for compensating nondeterministic network delay of network cascade control system |
| CN105652686A (en) * | 2014-12-05 | 2016-06-08 | 西安申科电子研究所 | Thermal power generating set simulation system |
| CN106054617A (en) * | 2016-08-15 | 2016-10-26 | 江南大学 | Online prediction method for random time delay of forward channel of network control system |
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2017
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Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101986231A (en) * | 2010-11-18 | 2011-03-16 | 海南大学 | Method for compensating nondeterministic network delay of network cascade control system |
| CN105652686A (en) * | 2014-12-05 | 2016-06-08 | 西安申科电子研究所 | Thermal power generating set simulation system |
| CN106054617A (en) * | 2016-08-15 | 2016-10-26 | 江南大学 | Online prediction method for random time delay of forward channel of network control system |
Non-Patent Citations (2)
| Title |
|---|
| 张鹏辉: "基于TrueTime的网络控制系统分析与研究", 《中国优秀硕士学位论文全文数据库 信息科技辑》 * |
| 李君 等: "基于Truetime的网络控制系统调度算法仿真比较", 《科技通报》 * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110471308A (en) * | 2019-07-17 | 2019-11-19 | 南京航空航天大学 | Aeroengine distributed control system simulation model modeling method based on TrueTime |
| WO2021008163A1 (en) * | 2019-07-17 | 2021-01-21 | 南京航空航天大学 | Simulation model modeling method of aircraft engine distributed control system based on truetime |
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