EP1002263A2 - Methode de synchronisation d'evenements de commande de processus et de mesures dans un systeme d'automatisation de commande de processus en temps reel - Google Patents

Methode de synchronisation d'evenements de commande de processus et de mesures dans un systeme d'automatisation de commande de processus en temps reel

Info

Publication number
EP1002263A2
EP1002263A2 EP99931291A EP99931291A EP1002263A2 EP 1002263 A2 EP1002263 A2 EP 1002263A2 EP 99931291 A EP99931291 A EP 99931291A EP 99931291 A EP99931291 A EP 99931291A EP 1002263 A2 EP1002263 A2 EP 1002263A2
Authority
EP
European Patent Office
Prior art keywords
sample
real
counter
time
value
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP99931291A
Other languages
German (de)
English (en)
Inventor
Ilmari WÄLJAS
Kimmo HÄMYNEN
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
ABB Research Ltd Switzerland
ABB Research Ltd Sweden
Original Assignee
ABB Research Ltd Switzerland
ABB Research Ltd Sweden
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by ABB Research Ltd Switzerland, ABB Research Ltd Sweden filed Critical ABB Research Ltd Switzerland
Publication of EP1002263A2 publication Critical patent/EP1002263A2/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G04—HOROLOGY
    • G04G—ELECTRONIC TIME-PIECES
    • G04G7/00—Synchronisation
    • G—PHYSICS
    • G04—HOROLOGY
    • G04G—ELECTRONIC TIME-PIECES
    • G04G15/00—Time-pieces comprising means to be operated at preselected times or after preselected time intervals
    • G04G15/006—Time-pieces comprising means to be operated at preselected times or after preselected time intervals for operating at a number of different times

Definitions

  • the invention relates to a method for synchronising process control events and measurements in a real-time process control automation system comprising at least two units connected to each other by a communication channel, each unit having a real-time counter and generating continuous fixed rate sampling pulses for process control events and measurements.
  • two different protection relays should be synchronised with each other for example in the distance relay function.
  • Differential relay protection is another function where the measurements taken by different relays should be synchronised.
  • the need for synchronisation is based on the basic function of these protection relays. It is very important in these relays to know in real time which one of the relays has operated first or first registered an abnormal change in the quantity to be monitored by the relay. By comparing the real-time stamps provided by the relays it is possible to conclude where in the power transmission line a failure or other abnormal situation has occurred. This information is also needed for correct operation of the relays.
  • A/D converter samplings of two separate devices are synchronised with each other but not normally to system real time.
  • Such A/D converter units typically have one or more counters controlling A/D converters, interrupts and binary I/O, and a separate real-time (external battery supported) clock and a central processing unit (CPU) using the real-time clock to time stamp the samples taken by the A/D converters.
  • This object can be achieved with a method of the present invention which comprises the steps of synchronising the real-time counters of all units but one to the realtime counter of said one unit by communication through the communication channel by updating the real-time counter values of all said units but one by writing a new value to the real-time counter and/or by making an input frequency correction to the real-time counter and synchronising the generation of the continuous fixed rate sampling pulses in each of said units to the real-time counter in the unit in question.
  • the communication channel used can be one of various known communication channels like Ethernet, Fieldbus or a modem connection.
  • the real-time counters are preferably synchronised to each other with an accuracy leading to a time difference between the times of the realtime counters that is smaller than the interval between the generated sampling pulses.
  • the sampling interval can be e.g. somewhat smaller than 400 ⁇ s, and the synchronisation between the real-time counters can lead to a time difference between the times of the real-time counters that is smaller than 10 ⁇ s.
  • the step of synchronising the generation of sampling pulses comprises the steps of setting a predetermined threshold value defining a time distance between successive timing pulses, comparing a value based on the current value of the real-time counter to a predetermined value and when the values match, loading said predetermined threshold value to a first counter, counting by said first counter the real-time clock pulses and, upon reaching said predetermined threshold value, giving a timing pulse, setting a predetermined sample distance value as a number of clock cycles to a first register, loading said predetermined sample distance value to a second counter, counting clock cycles by said second counter and upon reaching said predetermined sample distance value, giving a sampling pulse and resetting said second counter when said sampling pulse is given and when said timing pulse is received to restart the counting of the clock cycles by said second counter and supplying a synchronised sampling pulse whenever said sampling pulse and said timing pulse are given, unless said timing pulse is given after a certain number of sampling pulses have already been given after a preceding timing pulse.
  • the invention is based on the idea that the sampling pulses are synchronised to the real-time counter by counting on one hand the clock pulses generated by a local oscillator and on the other hand the real-time clock pulses generated by the real-time clock.
  • the frequencies of the oscillators are known, the following can be calculated: a number of local oscillator clock pulses corresponding to a certain number of sampling pulses to be given by the counter generating sampling pulses and a number of real-time clock pulses covering the same time-distance as said number of clock pulses.
  • the method of the present invention is used to synchronise sampling in separate units each having a real-time counter it is preferred that the synchronisation is done equally in all units. This can be achieved by setting said predetermined value which is compared to a value based on the current value of the real-time counter to be the next real-time counter value evenly dividable with said predetermined threshold value defining the time- distance between successive timing pulses.
  • the timing of the sampling pulses given between the timing pulses based on the real-time clock can be made more accurate by setting a new sample distance value as a number of clock cycles to said second counter when resetting said second counter, said new sample distance value being based on comparison of the value of the second counter at the instance of giving said timing pulse to a predetermined value.
  • Figure 1 is a simplified block diagram illustrating, by way of example, a system in which the method of the present invention can be utilised
  • Figure 2 is an exemplary block diagram illustrating the steps of the method according to the present invention which relate to the generating and phasing of the timing pulses and
  • Figure 3 is an exemplary block diagram illustrating the steps of the method according to the present invention which relate to the generating of the synchronised sampling pulses based on clock pulses given by a local oscillator and on timing pulses created by the block diagram of Figure 2.
  • FIG. 1 is a simplified block diagram illustrating, by way of example, a system in which the method of the present invention can be utilised.
  • This system comprises two units, MASTER and SLAVE, which both comprise a real-time counter RTC.
  • the real-time counter RTC in one unit can have the same real time as corresponding real-time counters in other corresponding units generating synchronised sampling pulses SAMPLE_SYNC they shall be synchronised to each other.
  • This can be done in several known ways known for example from patent application PCT/FI98/00481 , which is incorporated herein by reference, or from US Patent No. 4,185,110.
  • the real-time counter of unit SLAVE is synchronised to the real-time counter of unit MASTER by communication through the communication channel by updating the real-time counter values of all the units SLAVE by writing a new value to the real-time counter and/or by making an input frequency correction to the real-time counter.
  • the system can comprise any number of units SLAVE, but for simplicity only one is shown in Figure 12. Because the real-time counters can be synchronised in several known ways, the synchronisation will not be described in more detail in this context. However, it is important to note that the real-time counters are synchronised to each other with an accuracy leading to a time difference between the times of the real-time counters that is smaller than the interval between the generated sampling pulses SAMPLE_SYNC. In practice the sampling interval can be e.g. somewhat smaller than 400 ⁇ s and the synchronisation between the real-time counters can lead to a time difference between the times of the real-time counters that is smaller than 10 ⁇ s.
  • the communication channel CCH used between the units for synchronising the real-time counters RTC can be one of various known communication channels like Ethernet, Fieldbus or a modem connection.
  • Systems according to Figure 1 in which the method of the present invention can be implemented include industrial automation systems and power transmission systems. It is particularly suitable for continuous generation of synchronised sampling pulses for A/D converters which take samples continuously at a frequency over 1 kHz. Consequently, the method is used for measurements and for controlling continuous processes.
  • FIG. 2 is an exemplary block diagram illustrating the steps of the method according to the present invention which relate to the generating and phasing of timing pulses SAMPLE_24.
  • the timing pulses are synchronised to the frequency and phase of the real-time counter RTC.
  • the oscillator of the real-time counter RTC can have a frequency of 1 MHz, for example.
  • the cycle time of the pulses given by this oscillator of the RTC is 1 ⁇ s.
  • the synchronisation of the timing pulses SAMPLE_24 is controlled by two registers, ADIFSDUS and ADIFRTCSVAL, that control the sample frequency and, correspondingly, the sampling phase of the timing pulses.
  • Register ADIFSDUS contains the distance between 24 samples in microseconds. This value is used to determine the correct sampling frequency, based on a 1 MHz clock RTC1 M from the RTC. Periodically, according to ADIFSDUS setting, the sample start is generated according to the RTC clock. At the same time the sample distance in clock cycles of the local oscillator CLKADIF (not shown) is checked and adjusted by one clock cycle, if necessary, to match the two settings. This means that every 24th sample is initiated by the RTC clock, and the samples therebetween by CLKADIF with the adjusted sample period.
  • the sampling phase is controlled with the register ADIFRTCSVAL which contains a value corresponding to the 16 LSBs of the RTC.
  • Phase adjustment starts when ADIFRTCSVAL is written. Synchronisation takes place when the RTC value (RTCVAL in the Figure) matches the value ADIFRTCSVAL.
  • a status bit ADI FSPEND is set when ADIFRTCSVAL is written and cleared when the synchronisation takes place. ADIFRTCSVAL needs to be calculated and written only once. Thereafter the sampling stays in phase with the RTC. The preferred way to select the ADIFRTCSVAL is to take the next
  • RTC value evenly dividable with ADIFSDUS. This way the synchronisation can be done equally in all corresponding units.
  • the synchronisation accuracy can be calculated from the following formula, where ERR RTC denotes the maximum error in the RTC value and CLKADIF denotes the ADC interface clock frequency:
  • ERR SAMPLE ERR RTC + (4 / CLKADIF)
  • the max. sampling error from the correct moment is less than 4 microseconds.
  • the block diagram of Figure 2 is divided into two parts, one is the RTC microsecond down counter MDC / phase comparison, which operates with a clock CLKCPU (not shown) of the central processing unit (not shown) and the other is the sample timing block, which operates with CLKADIF.
  • the MDC counter generates a SAMPLE_24 timing signal with intervals defined by the ADIFSDUS value.
  • the SAMPLE_24 timing signal is used to synchronise the sample timing block shown in Figure 3 as described later in the text.
  • the microsecond down counter MDC counts down with every RTC1 M pulse from the RTC.
  • the counter is loaded with ADIFSDUS, when the count reaches 1 or when the phase synchronisation is done.
  • the phase synchronisation is done by writing to the ADIFRTCSVAL register, which is also indicated by signal WE-RTCSVAL.
  • the writing also sets a status bit ADIFSPEND indicating that phase synchronisation is in progress.
  • the register setting ADIFRTCSVAL equals the RTCVAL from the RTC
  • the status bit ADISPEND is cleared and the counter MDC is reloaded with the ADIFSDUS value.
  • a toggle flip flop TFF changes state. This change is detected with an edge detector ED in CLKADIF clock domain, and a SAMPLE_24 signal is generated from each edge.
  • the circuitry shown in Figure 3 which can be called to a sample timing block generates a synchronised sampling signal SAMPLE_SYNC for an A/D converter, for example, 24 times in every SAMPLE_24 period.
  • the sample distance timing is adjusted every SAMPLE_24 period to match the frequencies.
  • the sample timing block comprises two registers. One is the sample distance register SDR indicating the number of CLKADIF clock cycles in one SAMPLE_SYNC period. The other is a binary rate multiplier register
  • a sample distance counter SDC which counts down from the value loaded to it from the SDR register, generates the SAMPLE signal whenever the counter reaches value 1.
  • the counter is also loaded with a new value from the sample distance register SDR.
  • SAMPLE_24 signal also loads the counter and thus synchronises the sample timing to SAMPLE_24 timing. Accordingly, whenever the SAMPLE_24 is received at the SDC, the SDC starts to count down from the new value given by the SDR register, without ending the count going on at that instance. Consequently, in some occasions it does not give the sampling pulse
  • This sampling pulse is generated by an output generation block OG to be described below.
  • the sample counter SC is used to count internally generated samples; every SAMPLE signal increases the count and SAMPLE_24 resets the counter.
  • the output of the sample counter SC and the signals SAMPLE and SAMPLE_24 are supplied to the output generation block OG.
  • the output generation block OG gives a synchronised sampling pulse SAMPLE_SYNC whenever it receives said sampling pulse SAMPLE and the timing pulse
  • timing pulse SAMPLE_24 unless the timing pulse SAMPLE_24 is received after a certain number of sampling pulses SAMPLE have already been given after a preceding timing pulse SAMPLE_24.
  • the certain number of sampling pulses SAMPLE is 24.
  • SAMPLE_24 which is tied to the real-time counter, is used as a pulse synchronising the generation of a synchronised sampling pulse at every 24th sampling pulse.
  • the sampling pulses SAMPLE given between these 24th pulses can however be slightly misplaced if the local oscillator runs fast or slow. Such cases are taken care of by the value of the sample counter SC together with the BRM register value.
  • BRM binary rate multiplier
  • the sample counter SC and the sample distance counter SDC values are examined, and compared with the correct values at the evaluation block EB. If the values are lower than they should, the sample period should be decreased. If the values are higher than they should, the sample period should be increased.
  • the increment/decrement is done by first increasing/decreasing the BRM register value. If the BRM value is going to over/underflow, the sample distance register is increased/decreased.
  • the precision of the adjustment is better than 2 CLKADIF periods.
  • Another source of uncertainty in the sampling instance is the interface between CLKCPU and CLKADIF.
  • the maximum error in the edge detection done by the edge detector ED is always 1 CLKADIF cycle. So the maximum error in sampling is less than 3 CLKADIF periods + the error in the RTC value itself.
  • Power transmission systems use several frequencies of which three are the most common: 16 2/3 Hz, 50 Hz and 60 Hz.
  • the number of synchronised sampling pulses per period is preferably the same for all these frequencies.
  • the number of samples taken per period is 128.
  • the local oscillator CLKADIF can have e.g. a frequency of 9.8304 MHz.
  • the sample distance counter SDC must have a different counting limit or threshold for every different power transmission frequency.
  • the counting limits are 4608 for the frequency of 16 2/3 Hz, 1536 for 50 Hz and 1280 for 60 Hz. With these counting limits the number of sampling pulses is always 128 for one period independent of the power transmission line frequency.
  • the correct counting limit or threshold as a number of local oscillator clock pulses is first supplied to the sample distance register SDR in accordance with the line frequency used in the application in question.
  • the timing of the sampling pulses SAMPLE is synchronised with the timing pulses SAMPLE_24 after 24 sampling pulses, the synchronised sampling pulses SAMPLE_SYNC thereby being correctly synchronised 16 times in three line frequency periods.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Synchronisation In Digital Transmission Systems (AREA)
  • Feedback Control In General (AREA)

Abstract

L'invention concerne une méthode de synchronisation d'événements de commande de processus et de mesures dans un système d'automatisation de commande de processus comprenant au moins deux unités connectées l'une à l'autre par une voie de communication, chaque unité possédant un compteur en temps réel (CTR) et générant des impulsions d'échantillonnage (SYNCH_ECHANT) pour des événements et des mesures de commande de processus. Ladite méthode consiste à synchroniser les compteurs en temps réel de toutes les unités (ESCLAVE), sauf une, avec le compteur en temps réel de ladite unité (MAITRESSE) par communication sur la voie de communication, et à synchroniser la génération des impulsions d'échantillonnage (SYNCH_ECHANT) dans chaque unité avec le compteur en temps réel (CTR) dans l'unité en question.
EP99931291A 1998-06-15 1999-06-14 Methode de synchronisation d'evenements de commande de processus et de mesures dans un systeme d'automatisation de commande de processus en temps reel Withdrawn EP1002263A2 (fr)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
FI981388A FI981388A (fi) 1998-06-15 1998-06-15 Menetelmä prosessinohjaustapahtumien ja -mittausten tahdistamiseksi reaaliaikaisessa prosessinohjausautomaatiojärjestelmässä
FI981388 1998-06-15
PCT/FI1999/000517 WO1999066377A2 (fr) 1998-06-15 1999-06-14 Methode de synchronisation d'evenements de commande de processus et de mesures dans un systeme d'automatisation de commande de processus en temps reel

Publications (1)

Publication Number Publication Date
EP1002263A2 true EP1002263A2 (fr) 2000-05-24

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EP99931291A Withdrawn EP1002263A2 (fr) 1998-06-15 1999-06-14 Methode de synchronisation d'evenements de commande de processus et de mesures dans un systeme d'automatisation de commande de processus en temps reel

Country Status (4)

Country Link
EP (1) EP1002263A2 (fr)
AU (1) AU4784599A (fr)
FI (1) FI981388A (fr)
WO (1) WO1999066377A2 (fr)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
RU2511596C2 (ru) * 2009-09-08 2014-04-10 Сименс Акциенгезелльшафт Временная синхронизация в автоматизированных приборах
EP4128539A1 (fr) * 2020-03-27 2023-02-08 dSPACE GmbH Procédé d'entrée et/ou de sortie synchronisée dans le temps de signaux avec un taux d'échantillonnage sélectionnable
CN111880641B (zh) * 2020-07-29 2023-01-13 深圳星康医疗科技有限公司 一种穿戴式设备采样精度校准方法

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4455611A (en) * 1981-05-11 1984-06-19 Rca Corporation Multiplier for multiplying n-bit number by quotient of an integer divided by an integer power of two
JPH0282835A (ja) * 1988-09-20 1990-03-23 Sony Corp ディジタル信号受信装置
EP0574598A1 (fr) * 1992-06-13 1993-12-22 International Business Machines Corporation Mémoire tampon de données
JP3524967B2 (ja) * 1994-09-22 2004-05-10 株式会社アドバンテスト 複数基準発振器用タイミング発生器
GB2297854B (en) * 1995-02-07 1999-04-07 Nokia Mobile Phones Ltd Real time clock

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See references of WO9966377A3 *

Also Published As

Publication number Publication date
WO1999066377A2 (fr) 1999-12-23
FI981388A (fi) 1999-12-16
WO1999066377A3 (fr) 2000-02-24
FI981388A0 (fi) 1998-06-15
AU4784599A (en) 2000-01-05

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