Documenti di Didattica
Documenti di Professioni
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L. Samaranayake1, S. Alahakoon2
1
Ph.D Student Royal Institute of Technology, Stockholm,Sweden
2
Senior Lecturer, Faculty of Engineering, University of Peradeniya, Sri Lanka
In section 4.0, the test rig implementation is described.
Obtaining a control system model of the partial system
Ethernet is nowadays being focused by various is described in section 5.0. Finally results and
automation system developers over other field bus conclusion are presented in sections 6.0 and 7.0.
systems due to its cheap hardware availability,
straightforward integration to the Internet and support 2.0 TIMING ASPECTS OF ETHERNET
for the higher bandwidth requirements in the future. It
is already being used at higher levels of plant Ethernet is a shared-media broadcast technology. Its
automation. However, on a lower level of the control media access control method CSMA/CD (Carrier Sense
hierarchy, it is yet to be investigated. This paper Multiple Access with Collision Detection) performs
describes
the
theoretical
background
and three functions [2]:
implementation of a Real-Time speed control scheme
1. transmitting and receiving data packets
for a Brushless DC (BLDC) motor set-up, closed via an
2. decoding data packets and checking them for
Ethernet network and investigates the Hard Real-Time
valid addresses before passing them to the
capability of Ethernet within the scope of TCP/IP.
upper layers of the OSI model
3.
detecting
errors within data packets or on the
1.0 INTRODUCTION
network
In a distributed system, the control loop formed by the
sensor, controller and actuator of the controlled process In CSMA/CD, networking devices with data to transmit
is closed via a communication network. PROFIBUS, over the network work in a listen-before-transmit
INTERBUS, and CAN (Control Area Network) are mode. The device must check whether there are any
such commercially available dedicated Fieldbus signals on the networking media, before transmission.
systems. They are commonly in need of dedicated As soon as the networking media is vacant, it begins
hardware resulting inherited incompatibility among transmission. While transmitting, the device listens to
different bus systems and high capital cost. Ethernet on the network to ensure that no other stations are
the other hand, is rich in this context, if it could be used transmitting simultaneously. At the end of data
effectively as a field bus system to control Hard Real- transmission, the device returns to listening mode.
Time applications within the scope of TCP/IP Networking devices detect a collision by the increased
(Transport Control Protocol / Internet Protocol). There signal amplitude on the networking media. At a
exist a lot of cheap hardware (i.e., single chip solutions) collision, each device involved will continue to
that integrate Ethernet and TCP/IP stack. Also the transmit data for a short time. This is done to ensure
integration with Internet is straightforward. With the that all devices see the collision. Once all devices on
presence of TCP, it is possible to use all the the network have seen that a collision has occurred,
conventional protocols such as FTP, HTTP, SMTP etc. each device invokes a back off algorithm. This
Ethernet already supports future requirements in makes all devices on the network to stop transmitting
bandwidth. As everybody is using the same protocol for a maximum duration of twice the slot time, at first.
set, the solution is universal and thus compatibility Slot time is the length of time that one transmitting
issues are solved. Vendors will only have to support a station waits before attempting to retransmit, following
single solution instead of multiple field buses. On the a collision. On a 10Mbps network, maximum possible
other hand the capacity of existing field busses is back off time comes to 51.2s and for 100Mbps fast
reaching its limits [1]. Hence even at higher bit rates, it Ethernet, it is 5.12s. The back off time doubles every
is unlikely that dedicated Fieldbuses would fulfill the time the nodes repeat to collide. The doubling stops at
future needs of bandwidth. On top of all the above, the the 10th attempt (after 1024 slot times) and declares an
market is asking for Ethernet [1].
error after 16 attempts. Also the devices that were
involved in the collision do not have priority to
This paper addresses the theoretical aspects and transmit data.
practical possibilities to use Ethernet as the
communication network to control a Brushless DC Hence it is clear that Media Access Control (MAC)
(BLDC) motor. The paper is organized as follows. makes Ethernet in - deterministic. This makes one to
Section 2.0 describes the timing aspects of Ethernet. In think further about Hard Real-Time capabilities of
section 3.0, Inverter fed operation of the BLDC motor Ethernet. The theoretical analysis in [3] shows that
is described.
Ethernet with CSMA/CD can be used reliably for time
ABSTRACT
x
k = 0 k!
f =
8S p
Bw
(2)
1
2
3
4
5
6
7
8
9
10
Maximum
Slots
2
4
8
16
32
64
128
256
512
1024
10Mbps
delay (s)
0.1
0.2
0.4
0.8
1.6
3.2
6.4
12.8
25.6
51.2
100Mbps
delay(s)
0.01
0.02
0.04
0.08
0.16
0.32
0.64
1.28
2.56
5.12
Perror
3.3x10-1
6.7 x10-2
7.4 x10-3
4.0 x10-4
1.3 x10-5
2.0 x10-7
1.5 x10-9
6.0 x10-12
1.1 x10-14
1.2 x10-17
Table 1
where
Sp
Terror =
, (9)
2!
( )
y (t ) = K1 + K 2 1 e at .
(10)
H (s) =
k
.
(s + a )
(11)
Here, the steady state gain k/a can be found from speed
response and Iref data. Results are shown in section 6.2.
6.0 RESULTS
6.1 Timing aspects of Ethernet
Packet transport times of connection establishment,
data transfer and connection termination phases of
Transport Control Protocol (TCP) may vary from frame
to frame. Therefore, frame to frame delay profiles
were taken for Micro-Controller to Control Computer
and vice versa. i.e., sensor to controller and controller
to actuator.
But in later sessions as the network congestion The resulting parameter values of the control system
increases, it exceeds even 30ms degrading the closed model identification are shown in Table 3.
loop operation considerably due to missing samples.
Parameter
Value
Figure 11 shows total frame delays from controller to
K1
0.2229
actuator. They are well within the range of theoretical
values except for one session with the hub.
K2
0.6180
a
3.4272
Response of rotor speed r to reference current signal
k
0.3870
Iref with both Switch and Hub configurations are
Table 3
compared with non-networked configuration, where the To evaluate the success of the curve fit, the two open
speed controller directly coupled to the current loop speed responses from the motor and the modeled
controller.
transfer function is compared as shown in Figure 14.
8.0 ACKNOWLEDGEMENTS
Authors greatly acknowledge the financial support
granted to the date, by the Swedish International
Development Corporation Agency (SIDA) for
conducting this research
9.0 REFERENCES
1.
2.
3.
4.
5.
6.
7.
8.
APPENDIX
The parameters of the brushless dc motor are
Rs = 4.07, Ls = 8.9mH, J = 0.12kgcm2, B =
0.0353Nms-2, r = 2000 rpm.