Co-Simulation Tools for Networked Control Systems: Revision and Utilization
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Co-Simulation Tools for Networked Control Systems: Revision and Utilization Eduardo P. Godoy · Arthur J. V. Porto
Received: 29 April 2011 / Revised: 22 June 2012 / Accepted: 26 July 2013 / Published online: 8 October 2013 © Brazilian Society for Automatics–SBA 2013
Abstract Networked control systems (NCSs) are distributed control systems in which the sensors, actuators, and controllers are physically separated and connected through an industrial network. The main challenge related to the development of NCSs is the degenerative effects caused by the inclusion of this communication network in the closed loop control. In order to mitigate these effects, co-simulation tools for NCS have been developed to study the network influence in the NCS. This paper presents a revision about co-simulation tools for NCS and the application of two of these tools for the design and evaluation of NCSs. The TrueTime and Jitterbug tools were used together to evaluate the main configuration parameter that affects the performance of CAN-based NCS and to verify the NCS quality of control under various timing conditions including different transmission period of messages and network delays. Therefore, the simulation results led to the conclusion that despite the transmission period of messages is the most significant factor among the analyzed in the design of NCS, its influence is related to the kind of system with greater effects in NCSs with fast dynamics. Keywords CAN-based networks · Networked control systems (NCSs) · Quality of control
E. P. Godoy (B) Univ. Estadual Paulista (UNESP), Campus Sorocaba, Av. Três de Março 511, Sorocaba, SPCEP 18087-180, Brazil e-mail: [email protected] A. J. V. Porto EESC-USP – University of São Paulo, Av. Trabalhador São carlense 400, São Carlos, SPCEP 13566-590, Brazil e-mail: [email protected]
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1 Introduction Recent applications of distributed fieldbus-based control systems demonstrate a new approach for the use of industrial networks (Gupta and Chow 2010). In this type of application the controller, the sensor and the plant are physically separated and connected through a communication network in a remote closed loop control. The control signal is sent to the controller by a message transmitted over the network while the sensor samples the plant output and returns the information to the controller also by transmitting a message over the network. This type of application in which the control loops are closed using a communication networked as shown in Fig. 1 has been named as networked control systems (NCSs) (Yang 2006). NCS represents the evolution of the networked control architectures, improving flexibility and reliability of the distributed control system and providing greater modularity and control decentralization, ease maintenance and diagnosis and lower cost of deployment (Moyne and Tilbury 2007). Zampieri (2008) presents a review on the main contributions and trends in development of the area of NCS. Currently, two main research directions can be distinguished in the NCS area. On
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