IST 37652 Hard Real-time CORBA HRTC WP4 / M. Rodríguez / Lund 16 September 2003 WP4: Process Control Testbed Universidad Politécnica de Madrid
IST 37652 Hard Real-time CORBA
HRTC
WP4 / M. Rodríguez / Lund 16 September 2003
WP4: Process Control Testbed
WP4: Process Control Testbed
Universidad Politécnica de Madrid
HRTC
Cop
yrig
ht ©
20
02 T
he
HR
TC
Co
nso
rtiu
m. w
ww
.ha
rdre
alti
me
corb
a.o
rg.
All
rig
hts
re
serv
ed
.
IST 37652 / Hard Real-time CORBA
WP4 / M. Rodríguez / Lund 16 September 2003
OutlineOutline
OverviewOverviewNon HRTP Implementation Non HRTP Implementation HRTP ImplementationHRTP ImplementationConclusionsConclusions
HRTC
Cop
yrig
ht ©
20
02 T
he
HR
TC
Co
nso
rtiu
m. w
ww
.ha
rdre
alti
me
corb
a.o
rg.
All
rig
hts
re
serv
ed
.
IST 37652 / Hard Real-time CORBA
WP4 / M. Rodríguez / Lund 16 September 2003
OverviewOverview
HRTC
Cop
yrig
ht ©
20
02 T
he
HR
TC
Co
nso
rtiu
m. w
ww
.ha
rdre
alti
me
corb
a.o
rg.
All
rig
hts
re
serv
ed
.
IST 37652 / Hard Real-time CORBA
WP4 / M. Rodríguez / Lund 16 September 2003
ObjectiveObjective
The main objective of the distributed process control testbed is to identify requirements for distributed control systems and perform experiments in conditions of systems heterogeneity and legacy integration. Experiments will be done using conventional IIOP and the new real-time protocol.
Overview & previous workOverview & previous work
HRTC
Cop
yrig
ht ©
20
02 T
he
HR
TC
Co
nso
rtiu
m. w
ww
.ha
rdre
alti
me
corb
a.o
rg.
All
rig
hts
re
serv
ed
.
IST 37652 / Hard Real-time CORBA
WP4 / M. Rodríguez / Lund 16 September 2003
Previous WorkPrevious WorkOverview & previous workOverview & previous work
PCT Requirements specificationPCT Requirements specificationPCT DesignPCT DesignPCT ProcurementPCT Procurement
HRTC
Cop
yrig
ht ©
20
02 T
he
HR
TC
Co
nso
rtiu
m. w
ww
.ha
rdre
alti
me
corb
a.o
rg.
All
rig
hts
re
serv
ed
.
IST 37652 / Hard Real-time CORBA
WP4 / M. Rodríguez / Lund 16 September 2003
Overview & previous workOverview & previous work
HRTC
Cop
yrig
ht ©
20
02 T
he
HR
TC
Co
nso
rtiu
m. w
ww
.ha
rdre
alti
me
corb
a.o
rg.
All
rig
hts
re
serv
ed
.
IST 37652 / Hard Real-time CORBA
WP4 / M. Rodríguez / Lund 16 September 2003
Overview & previous workOverview & previous work
HRTC
Cop
yrig
ht ©
20
02 T
he
HR
TC
Co
nso
rtiu
m. w
ww
.ha
rdre
alti
me
corb
a.o
rg.
All
rig
hts
re
serv
ed
.
IST 37652 / Hard Real-time CORBA
WP4 / M. Rodríguez / Lund 16 September 2003
Main Activities Main Activities
Non HRT ImplementationNon HRT ImplementationNon HRT TestingNon HRT TestingPCT DocumentationPCT Documentation
HRTC
Cop
yrig
ht ©
20
02 T
he
HR
TC
Co
nso
rtiu
m. w
ww
.ha
rdre
alti
me
corb
a.o
rg.
All
rig
hts
re
serv
ed
.
IST 37652 / Hard Real-time CORBA
WP4 / M. Rodríguez / Lund 16 September 2003
Non HRTP ImplementationNon HRTP Implementation
HRTC
Cop
yrig
ht ©
20
02 T
he
HR
TC
Co
nso
rtiu
m. w
ww
.ha
rdre
alti
me
corb
a.o
rg.
All
rig
hts
re
serv
ed
.
IST 37652 / Hard Real-time CORBA
WP4 / M. Rodríguez / Lund 16 September 2003
IntroductionIntroduction
Non HRTP ImplementationNon HRTP Implementation
Purpose & experiment definitionHardware implementationSoftware implementationTesting
For every experiment the following pattern is presented:
HRTC
Cop
yrig
ht ©
20
02 T
he
HR
TC
Co
nso
rtiu
m. w
ww
.ha
rdre
alti
me
corb
a.o
rg.
All
rig
hts
re
serv
ed
.
IST 37652 / Hard Real-time CORBA
WP4 / M. Rodríguez / Lund 16 September 2003
Ethernet Control LoopEthernet Control LoopTo demonstrate the use of CORBA components for the implementation of control loops.
A simple regulatory control loop with three components:
1. Sensor
2. Actuator
3. Controller
built as independent nodes connected through the Ethernet. Also there are two additional nodes:
1. HMI
2. Historical Database
Non HRTP ImplementationNon HRTP Implementation
HRTC
Cop
yrig
ht ©
20
02 T
he
HR
TC
Co
nso
rtiu
m. w
ww
.ha
rdre
alti
me
corb
a.o
rg.
All
rig
hts
re
serv
ed
.
IST 37652 / Hard Real-time CORBA
WP4 / M. Rodríguez / Lund 16 September 2003
HW HW ImplementationImplementation
Non HRTP ImplementationNon HRTP Implementation
HRTC
Cop
yrig
ht ©
20
02 T
he
HR
TC
Co
nso
rtiu
m. w
ww
.ha
rdre
alti
me
corb
a.o
rg.
All
rig
hts
re
serv
ed
.
IST 37652 / Hard Real-time CORBA
WP4 / M. Rodríguez / Lund 16 September 2003
Non HRTP ImplementationNon HRTP Implementation
SW SW ImplementationImplementation
HRTC
Cop
yrig
ht ©
20
02 T
he
HR
TC
Co
nso
rtiu
m. w
ww
.ha
rdre
alti
me
corb
a.o
rg.
All
rig
hts
re
serv
ed
.
IST 37652 / Hard Real-time CORBA
WP4 / M. Rodríguez / Lund 16 September 2003
The experiment has been conducted in two stages:
First stage: Start the process only (without control). The pumps were manually controlled and the sensor values were monitored.
Second stage: Run the process with the control loop closed (automatic mode).
In order to test the capacity of CORBA the time cycle of the loop was reduced decrementing the time between controller calls to the pH sensor and actuator.
All the PCs were synchronized using NTP.
TestingTesting
Non HRTP ImplementationNon HRTP Implementation
HRTC
Cop
yrig
ht ©
20
02 T
he
HR
TC
Co
nso
rtiu
m. w
ww
.ha
rdre
alti
me
corb
a.o
rg.
All
rig
hts
re
serv
ed
.
IST 37652 / Hard Real-time CORBA
WP4 / M. Rodríguez / Lund 16 September 2003
HMIHMINon HRTP ImplementationNon HRTP Implementation
HRTC
Cop
yrig
ht ©
20
02 T
he
HR
TC
Co
nso
rtiu
m. w
ww
.ha
rdre
alti
me
corb
a.o
rg.
All
rig
hts
re
serv
ed
.
IST 37652 / Hard Real-time CORBA
WP4 / M. Rodríguez / Lund 16 September 2003
Integration of legacy systemsIntegration of legacy systems
The purpose of this experiment is to demonstrate the integration of legacy systems in a CCS.
A commercial Honeywell TPS distributed control system is wrapped to become another CORBA node in the system
Non HRTP ImplementationNon HRTP Implementation
HRTC
Cop
yrig
ht ©
20
02 T
he
HR
TC
Co
nso
rtiu
m. w
ww
.ha
rdre
alti
me
corb
a.o
rg.
All
rig
hts
re
serv
ed
.
IST 37652 / Hard Real-time CORBA
WP4 / M. Rodríguez / Lund 16 September 2003
HW HW ImplementationImplementation
Non HRTP ImplementationNon HRTP Implementation
HRTC
Cop
yrig
ht ©
20
02 T
he
HR
TC
Co
nso
rtiu
m. w
ww
.ha
rdre
alti
me
corb
a.o
rg.
All
rig
hts
re
serv
ed
.
IST 37652 / Hard Real-time CORBA
WP4 / M. Rodríguez / Lund 16 September 2003
Non HRTP ImplementationNon HRTP Implementation
SW SW ImplementationImplementation
HRTC
Cop
yrig
ht ©
20
02 T
he
HR
TC
Co
nso
rtiu
m. w
ww
.ha
rdre
alti
me
corb
a.o
rg.
All
rig
hts
re
serv
ed
.
IST 37652 / Hard Real-time CORBA
WP4 / M. Rodríguez / Lund 16 September 2003
1. Limitations of the connection
2. Use of the TPS controller with CCS sensor and actuator
3. Use of CCS controller with TPS sensor and actuator
4. Use of TPS sensor with CCS controller and actuator
TestingTesting
Non HRTP ImplementationNon HRTP Implementation
HRTC
Cop
yrig
ht ©
20
02 T
he
HR
TC
Co
nso
rtiu
m. w
ww
.ha
rdre
alti
me
corb
a.o
rg.
All
rig
hts
re
serv
ed
.
IST 37652 / Hard Real-time CORBA
WP4 / M. Rodríguez / Lund 16 September 2003
Interaction of simulation & Interaction of simulation & controlcontrol
The purpose of this experiment is to test and identify requirements for the use of simulation objects on a CCS.
A simulation node shall be introduced on a Ethernet network with the CCS control loop configuration. This node should interact in several ways with the control agents
Non HRTP ImplementationNon HRTP Implementation
HRTC
Cop
yrig
ht ©
20
02 T
he
HR
TC
Co
nso
rtiu
m. w
ww
.ha
rdre
alti
me
corb
a.o
rg.
All
rig
hts
re
serv
ed
.
IST 37652 / Hard Real-time CORBA
WP4 / M. Rodríguez / Lund 16 September 2003
HW HW ImplementationImplementation
Non HRTP ImplementationNon HRTP Implementation
HRTC
Cop
yrig
ht ©
20
02 T
he
HR
TC
Co
nso
rtiu
m. w
ww
.ha
rdre
alti
me
corb
a.o
rg.
All
rig
hts
re
serv
ed
.
IST 37652 / Hard Real-time CORBA
WP4 / M. Rodríguez / Lund 16 September 2003
Non HRTP ImplementationNon HRTP Implementation
SW SW ImplementationImplementation
HRTC
Cop
yrig
ht ©
20
02 T
he
HR
TC
Co
nso
rtiu
m. w
ww
.ha
rdre
alti
me
corb
a.o
rg.
All
rig
hts
re
serv
ed
.
IST 37652 / Hard Real-time CORBA
WP4 / M. Rodríguez / Lund 16 September 2003
Operators training (interaction between the simulation and the HMI nodes). In this case the process and the control system are simulated. The HMI sends and receives data from the simulator. The time of execution of the simulation is slowed down to resemble the actual time of the process. Hardware in the loop (interaction between the simulation and the actual controller). In this test the system simulated is the process plant with the sensors and actuators. The pH controller is left out of the model. The real pH controller implemented in a separate CORBA node is used to control the simulated plant.
TestingTesting
Non HRTP ImplementationNon HRTP Implementation
HRTC
Cop
yrig
ht ©
20
02 T
he
HR
TC
Co
nso
rtiu
m. w
ww
.ha
rdre
alti
me
corb
a.o
rg.
All
rig
hts
re
serv
ed
.
IST 37652 / Hard Real-time CORBA
WP4 / M. Rodríguez / Lund 16 September 2003
Intensive data trafficIntensive data traffic
The purpose of this experiment is to check capacity limits of the system when the number of control elements increases.
During the test, the number of instances of simulated sensors and actuators on their respective nodes is increased progressively, as well as the corresponding number of controllers
Non HRTP ImplementationNon HRTP Implementation
HRTC
Cop
yrig
ht ©
20
02 T
he
HR
TC
Co
nso
rtiu
m. w
ww
.ha
rdre
alti
me
corb
a.o
rg.
All
rig
hts
re
serv
ed
.
IST 37652 / Hard Real-time CORBA
WP4 / M. Rodríguez / Lund 16 September 2003
HW HW ImplementationImplementation
Non HRTP ImplementationNon HRTP Implementation
HRTC
Cop
yrig
ht ©
20
02 T
he
HR
TC
Co
nso
rtiu
m. w
ww
.ha
rdre
alti
me
corb
a.o
rg.
All
rig
hts
re
serv
ed
.
IST 37652 / Hard Real-time CORBA
WP4 / M. Rodríguez / Lund 16 September 2003
SW SW ImplementationImplementation
Non HRTP ImplementationNon HRTP Implementation
HRTC
Cop
yrig
ht ©
20
02 T
he
HR
TC
Co
nso
rtiu
m. w
ww
.ha
rdre
alti
me
corb
a.o
rg.
All
rig
hts
re
serv
ed
.
IST 37652 / Hard Real-time CORBA
WP4 / M. Rodríguez / Lund 16 September 2003
•Every node with single functionality (all the virtual sensors are in a PC, all the actuators in another PC...)
•Every node has multiple functionality (In every node there are virtual sensors, actuators and controllers – not sending messages between them)
• Heavy network loads (by transferring huge amount of data between the network PCs).
TestingTesting
Non HRTP ImplementationNon HRTP Implementation
HRTC
Cop
yrig
ht ©
20
02 T
he
HR
TC
Co
nso
rtiu
m. w
ww
.ha
rdre
alti
me
corb
a.o
rg.
All
rig
hts
re
serv
ed
.
IST 37652 / Hard Real-time CORBA
WP4 / M. Rodríguez / Lund 16 September 2003
Concurrency accessConcurrency access
The purpose of this experiment is to identify concurrency issues in CCS.
In this test multiple nodes try to access concurrently to a sensor node. As in the previous test, the number of client instances increases progressively.
Non HRTP ImplementationNon HRTP Implementation
HRTC
Cop
yrig
ht ©
20
02 T
he
HR
TC
Co
nso
rtiu
m. w
ww
.ha
rdre
alti
me
corb
a.o
rg.
All
rig
hts
re
serv
ed
.
IST 37652 / Hard Real-time CORBA
WP4 / M. Rodríguez / Lund 16 September 2003
HW HW ImplementationImplementation
Non HRTP ImplementationNon HRTP Implementation
HRTC
Cop
yrig
ht ©
20
02 T
he
HR
TC
Co
nso
rtiu
m. w
ww
.ha
rdre
alti
me
corb
a.o
rg.
All
rig
hts
re
serv
ed
.
IST 37652 / Hard Real-time CORBA
WP4 / M. Rodríguez / Lund 16 September 2003
TestingTesting
Non HRTP ImplementationNon HRTP Implementation
Only some testing with multiple virtual objects(regulators) accesing a single node (sensor) has been conducted.
HRTC
Cop
yrig
ht ©
20
02 T
he
HR
TC
Co
nso
rtiu
m. w
ww
.ha
rdre
alti
me
corb
a.o
rg.
All
rig
hts
re
serv
ed
.
IST 37652 / Hard Real-time CORBA
WP4 / M. Rodríguez / Lund 16 September 2003
HRTP ImplementationHRTP Implementation
HRTC
Cop
yrig
ht ©
20
02 T
he
HR
TC
Co
nso
rtiu
m. w
ww
.ha
rdre
alti
me
corb
a.o
rg.
All
rig
hts
re
serv
ed
.
IST 37652 / Hard Real-time CORBA
WP4 / M. Rodríguez / Lund 16 September 2003
TTP/C Control LoopTTP/C Control Loop
To demonstrate the use of CORBA components for the implementation of control loops.
A simple regulatory control loop with three components:
1. Sensor
2. Actuator
3. Controller
built as independent nodes connected through the TTP/C network. Also there are two additional nodes:
1. HMI
2. Historical Database
HRTP ImplementationHRTP Implementation
HRTC
Cop
yrig
ht ©
20
02 T
he
HR
TC
Co
nso
rtiu
m. w
ww
.ha
rdre
alti
me
corb
a.o
rg.
All
rig
hts
re
serv
ed
.
IST 37652 / Hard Real-time CORBA
WP4 / M. Rodríguez / Lund 16 September 2003
HW HW ImplementationImplementation
HRTP ImplementationHRTP Implementation
HRTC
Cop
yrig
ht ©
20
02 T
he
HR
TC
Co
nso
rtiu
m. w
ww
.ha
rdre
alti
me
corb
a.o
rg.
All
rig
hts
re
serv
ed
.
IST 37652 / Hard Real-time CORBA
WP4 / M. Rodríguez / Lund 16 September 2003
Asynchronous event Asynchronous event managementmanagement
To test the ability of CCS for implementing sequence of events register functionality. This is a measure of the accomplishment of the timing properties required by a distributed real-time control
A sequence of asynchronous events occurring in different nodes is generated in a short period of time. This events are registered in a central database with their time-stamps.
HRTP ImplementationHRTP Implementation
HRTC
Cop
yrig
ht ©
20
02 T
he
HR
TC
Co
nso
rtiu
m. w
ww
.ha
rdre
alti
me
corb
a.o
rg.
All
rig
hts
re
serv
ed
.
IST 37652 / Hard Real-time CORBA
WP4 / M. Rodríguez / Lund 16 September 2003
HW HW ImplementationImplementation
HRTP ImplementationHRTP Implementation
HRTC
Cop
yrig
ht ©
20
02 T
he
HR
TC
Co
nso
rtiu
m. w
ww
.ha
rdre
alti
me
corb
a.o
rg.
All
rig
hts
re
serv
ed
.
IST 37652 / Hard Real-time CORBA
WP4 / M. Rodríguez / Lund 16 September 2003
Network bridgingNetwork bridging
To identify requirements and limits for the use of several (possibly heterogeneous) segments in a CCS network.
Two CCS network segments shall be communicated through a bridge.
HRTP ImplementationHRTP Implementation
HRTC
Cop
yrig
ht ©
20
02 T
he
HR
TC
Co
nso
rtiu
m. w
ww
.ha
rdre
alti
me
corb
a.o
rg.
All
rig
hts
re
serv
ed
.
IST 37652 / Hard Real-time CORBA
WP4 / M. Rodríguez / Lund 16 September 2003
HW HW ImplementationImplementation
HRTP ImplementationHRTP Implementation
HRTC
Cop
yrig
ht ©
20
02 T
he
HR
TC
Co
nso
rtiu
m. w
ww
.ha
rdre
alti
me
corb
a.o
rg.
All
rig
hts
re
serv
ed
.
IST 37652 / Hard Real-time CORBA
WP4 / M. Rodríguez / Lund 16 September 2003
ConclusionsConclusions
HRTC
Cop
yrig
ht ©
20
02 T
he
HR
TC
Co
nso
rtiu
m. w
ww
.ha
rdre
alti
me
corb
a.o
rg.
All
rig
hts
re
serv
ed
.
IST 37652 / Hard Real-time CORBA
WP4 / M. Rodríguez / Lund 16 September 2003
ConclusionsConclusionsThere haven’t been major problems in integrating
the control loop elements. CORBA is an alternative for process control systems not only where OPC operates but even at lower levels (field level)
Although existing DCS may be integrated under CORBA there are a lot of functionalities that cannot be accessed due to the lack of openness of the DCS.
Simulator integration have been easy as ABACUSSII is provided as a library and only an interface has been to be added.
Process control systems cannot sacrifice flexibility for predictability.
HRTC
Cop
yrig
ht ©
20
02 T
he
HR
TC
Co
nso
rtiu
m. w
ww
.ha
rdre
alti
me
corb
a.o
rg.
All
rig
hts
re
serv
ed
.
IST 37652 / Hard Real-time CORBA
WP4 / M. Rodríguez / Lund 16 September 2003
More experiments in Non HRTP implementation (mainly concurrent access)
Complete Software development of HRTP implementation
Perform HRTP testsComplete Documentation and evaluation of the
PCT.
Work pendingWork pending