Data sampling time scheduling based on maximum allowable loop delay for networked control system

Networked Control System (NCS) has gained the popularity recently due to low installation and maintenance cost, high reliability, and less wiring. This control approach of NCS differs from traditional control system since controller and plant are physically separated and connected through a communic...

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Main Author:	Ahmad Dahalan, Amira Sarayati
Format:	Thesis
Language:	English
Published:	2015
Subjects:	TK Electrical engineering Electronics Nuclear engineering
Online Access:	http://eprints.utm.my/id/eprint/54013/1/AmiraSarayatiMFKE2015.pdf
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spelling	my-utm-ep.540132020-10-14T09:10:33Z Data sampling time scheduling based on maximum allowable loop delay for networked control system 2015-04 Ahmad Dahalan, Amira Sarayati TK Electrical engineering. Electronics Nuclear engineering Networked Control System (NCS) has gained the popularity recently due to low installation and maintenance cost, high reliability, and less wiring. This control approach of NCS differs from traditional control system since controller and plant are physically separated and connected through a communication network. Despite these advantages that the system offers, the main challenge of NCS is networkedinduced delay that occurs while data is exchanged between components. Data Sampling Time scheduling with Offset (DSTOS) algorithm is an existing method and one of the effective approaches developed to handle time delays by allocating data according to priority for linear order system. In this work, the NCS of non-linear 2-link planar robot is developed based on Controller Area Network (CAN) where Proportional and Derivative (PD) controller is adapted to form a closed loop system. Based on this configuration, DSTOS algorithm is reconfigured for non-linear system and implemented such that the assignment of message priority is assigned according to the calculated Maximum Allowable Loop Delay (MALD) in every loop to reduce network delay. The NCS of 2-Link planar robot is formed based on two loops which consist of two sensor nodes, two actuator nodes and two controller nodes that perform data exchange in CAN 2.0A data frames under various CAN speeds. Simulations are performed by using MATLAB/SIMULINK with TrueTime Toolbox. Analysis of simulation results shows that the CAN-based non-linear system is able to accommodate this method and meets the real time and control requirements. By using DSTOS algorithm, the maximum data latency of control loops is reduced by almost 15% as compared to system without DSTOS. The reduction in link angle error is evident based on low value of IAE index. DSTOS also promotes lower energy consumption of DC servomotor which is important especially for industry. 2015-04 Thesis http://eprints.utm.my/id/eprint/54013/ http://eprints.utm.my/id/eprint/54013/1/AmiraSarayatiMFKE2015.pdf application/pdf en public http://dms.library.utm.my:8080/vital/access/manager/Repository/vital:85912 masters Universiti Teknologi Malaysia, Faculty of Electrical Engineering Faculty of Electrical Engineering
institution	Universiti Teknologi Malaysia
collection	UTM Institutional Repository
language	English
topic	TK Electrical engineering Electronics Nuclear engineering
spellingShingle	TK Electrical engineering Electronics Nuclear engineering Ahmad Dahalan, Amira Sarayati Data sampling time scheduling based on maximum allowable loop delay for networked control system
description	Networked Control System (NCS) has gained the popularity recently due to low installation and maintenance cost, high reliability, and less wiring. This control approach of NCS differs from traditional control system since controller and plant are physically separated and connected through a communication network. Despite these advantages that the system offers, the main challenge of NCS is networkedinduced delay that occurs while data is exchanged between components. Data Sampling Time scheduling with Offset (DSTOS) algorithm is an existing method and one of the effective approaches developed to handle time delays by allocating data according to priority for linear order system. In this work, the NCS of non-linear 2-link planar robot is developed based on Controller Area Network (CAN) where Proportional and Derivative (PD) controller is adapted to form a closed loop system. Based on this configuration, DSTOS algorithm is reconfigured for non-linear system and implemented such that the assignment of message priority is assigned according to the calculated Maximum Allowable Loop Delay (MALD) in every loop to reduce network delay. The NCS of 2-Link planar robot is formed based on two loops which consist of two sensor nodes, two actuator nodes and two controller nodes that perform data exchange in CAN 2.0A data frames under various CAN speeds. Simulations are performed by using MATLAB/SIMULINK with TrueTime Toolbox. Analysis of simulation results shows that the CAN-based non-linear system is able to accommodate this method and meets the real time and control requirements. By using DSTOS algorithm, the maximum data latency of control loops is reduced by almost 15% as compared to system without DSTOS. The reduction in link angle error is evident based on low value of IAE index. DSTOS also promotes lower energy consumption of DC servomotor which is important especially for industry.
format	Thesis
qualification_level	Master's degree
author	Ahmad Dahalan, Amira Sarayati
author_facet	Ahmad Dahalan, Amira Sarayati
author_sort	Ahmad Dahalan, Amira Sarayati
title	Data sampling time scheduling based on maximum allowable loop delay for networked control system
title_short	Data sampling time scheduling based on maximum allowable loop delay for networked control system
title_full	Data sampling time scheduling based on maximum allowable loop delay for networked control system
title_fullStr	Data sampling time scheduling based on maximum allowable loop delay for networked control system
title_full_unstemmed	Data sampling time scheduling based on maximum allowable loop delay for networked control system
title_sort	data sampling time scheduling based on maximum allowable loop delay for networked control system
granting_institution	Universiti Teknologi Malaysia, Faculty of Electrical Engineering
granting_department	Faculty of Electrical Engineering
publishDate	2015
url	http://eprints.utm.my/id/eprint/54013/1/AmiraSarayatiMFKE2015.pdf
_version_	1747817673801072640

Data sampling time scheduling based on maximum allowable loop delay for networked control system

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