1. IST 37652 Hard Real-time CORBA HRTC WP4 / M. Rodríguez / Lund 16 September 2003 WP4: Process Control Testbed Universidad Politécnica de Madrid

2. Copyright © 2002 The HRTC Consortium. www.hardrealtimecorba.org. All rights reserved.www.hardrealtimecorba.org IST 37652 / Hard Real-time CORBA WP4 / M. Rodríguez / Lund 16 September 2003Outline  Overview  Non HRTP Implementation  HRTP Implementation  Conclusions

3. Copyright © 2002 The HRTC Consortium. www.hardrealtimecorba.org. All rights reserved.www.hardrealtimecorba.org IST 37652 / Hard Real-time CORBA WP4 / M. Rodríguez / Lund 16 September 2003 Overview

4. Copyright © 2002 The HRTC Consortium. www.hardrealtimecorba.org. All rights reserved.www.hardrealtimecorba.org IST 37652 / Hard Real-time CORBA WP4 / M. Rodríguez / Lund 16 September 2003 Objective 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 work

5. Copyright © 2002 The HRTC Consortium. www.hardrealtimecorba.org. All rights reserved.www.hardrealtimecorba.org IST 37652 / Hard Real-time CORBA WP4 / M. Rodríguez / Lund 16 September 2003 Previous Work Overview & previous work  PCT Requirements specification  PCT Design  PCT Procurement

6. Copyright © 2002 The HRTC Consortium. www.hardrealtimecorba.org. All rights reserved.www.hardrealtimecorba.org IST 37652 / Hard Real-time CORBA WP4 / M. Rodríguez / Lund 16 September 2003 Overview & previous work

7. Copyright © 2002 The HRTC Consortium. www.hardrealtimecorba.org. All rights reserved.www.hardrealtimecorba.org IST 37652 / Hard Real-time CORBA WP4 / M. Rodríguez / Lund 16 September 2003 Overview & previous work

8. Copyright © 2002 The HRTC Consortium. www.hardrealtimecorba.org. All rights reserved.www.hardrealtimecorba.org IST 37652 / Hard Real-time CORBA WP4 / M. Rodríguez / Lund 16 September 2003 Main Activities  Non HRT Implementation  Non HRT Testing  PCT Documentation

9. Copyright © 2002 The HRTC Consortium. www.hardrealtimecorba.org. All rights reserved.www.hardrealtimecorba.org IST 37652 / Hard Real-time CORBA WP4 / M. Rodríguez / Lund 16 September 2003 Non HRTP Implementation

10. Copyright © 2002 The HRTC Consortium. www.hardrealtimecorba.org. All rights reserved.www.hardrealtimecorba.org IST 37652 / Hard Real-time CORBA WP4 / M. Rodríguez / Lund 16 September 2003 Introduction Non HRTP Implementation  Purpose & experiment definition  Hardware implementation  Software implementation  Testing For every experiment the following pattern is presented:

11. Copyright © 2002 The HRTC Consortium. www.hardrealtimecorba.org. All rights reserved.www.hardrealtimecorba.org IST 37652 / Hard Real-time CORBA WP4 / M. Rodríguez / Lund 16 September 2003 Ethernet 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 Ethernet. Also there are two additional nodes: 1. HMI 2. Historical Database Non HRTP Implementation

12. Copyright © 2002 The HRTC Consortium. www.hardrealtimecorba.org. All rights reserved.www.hardrealtimecorba.org IST 37652 / Hard Real-time CORBA WP4 / M. Rodríguez / Lund 16 September 2003 HWImplementation Non HRTP Implementation

13. Copyright © 2002 The HRTC Consortium. www.hardrealtimecorba.org. All rights reserved.www.hardrealtimecorba.org IST 37652 / Hard Real-time CORBA WP4 / M. Rodríguez / Lund 16 September 2003 Non HRTP Implementation SWImplementation

14. Copyright © 2002 The HRTC Consortium. www.hardrealtimecorba.org. All rights reserved.www.hardrealtimecorba.org 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. Testing Non HRTP Implementation

15. Copyright © 2002 The HRTC Consortium. www.hardrealtimecorba.org. All rights reserved.www.hardrealtimecorba.org IST 37652 / Hard Real-time CORBA WP4 / M. Rodríguez / Lund 16 September 2003 HMI Non HRTP Implementation

16. Copyright © 2002 The HRTC Consortium. www.hardrealtimecorba.org. All rights reserved.www.hardrealtimecorba.org IST 37652 / Hard Real-time CORBA WP4 / M. Rodríguez / Lund 16 September 2003 Integration 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 Implementation

17. Copyright © 2002 The HRTC Consortium. www.hardrealtimecorba.org. All rights reserved.www.hardrealtimecorba.org IST 37652 / Hard Real-time CORBA WP4 / M. Rodríguez / Lund 16 September 2003 HWImplementation Non HRTP Implementation

18. Copyright © 2002 The HRTC Consortium. www.hardrealtimecorba.org. All rights reserved.www.hardrealtimecorba.org IST 37652 / Hard Real-time CORBA WP4 / M. Rodríguez / Lund 16 September 2003 Non HRTP Implementation SWImplementation

19. Copyright © 2002 The HRTC Consortium. www.hardrealtimecorba.org. All rights reserved.www.hardrealtimecorba.org 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 Testing Non HRTP Implementation

20. Copyright © 2002 The HRTC Consortium. www.hardrealtimecorba.org. All rights reserved.www.hardrealtimecorba.org IST 37652 / Hard Real-time CORBA WP4 / M. Rodríguez / Lund 16 September 2003 Interaction of simulation & control 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 Implementation

21. Copyright © 2002 The HRTC Consortium. www.hardrealtimecorba.org. All rights reserved.www.hardrealtimecorba.org IST 37652 / Hard Real-time CORBA WP4 / M. Rodríguez / Lund 16 September 2003 HWImplementation Non HRTP Implementation

22. Copyright © 2002 The HRTC Consortium. www.hardrealtimecorba.org. All rights reserved.www.hardrealtimecorba.org IST 37652 / Hard Real-time CORBA WP4 / M. Rodríguez / Lund 16 September 2003 Non HRTP Implementation SWImplementation

23. Copyright © 2002 The HRTC Consortium. www.hardrealtimecorba.org. All rights reserved.www.hardrealtimecorba.org 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. Testing Non HRTP Implementation

24. Copyright © 2002 The HRTC Consortium. www.hardrealtimecorba.org. All rights reserved.www.hardrealtimecorba.org IST 37652 / Hard Real-time CORBA WP4 / M. Rodríguez / Lund 16 September 2003 Intensive 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 Implementation

25. Copyright © 2002 The HRTC Consortium. www.hardrealtimecorba.org. All rights reserved.www.hardrealtimecorba.org IST 37652 / Hard Real-time CORBA WP4 / M. Rodríguez / Lund 16 September 2003 HWImplementation Non HRTP Implementation

26. Copyright © 2002 The HRTC Consortium. www.hardrealtimecorba.org. All rights reserved.www.hardrealtimecorba.org IST 37652 / Hard Real-time CORBA WP4 / M. Rodríguez / Lund 16 September 2003 SWImplementation Non HRTP Implementation

27. Copyright © 2002 The HRTC Consortium. www.hardrealtimecorba.org. All rights reserved.www.hardrealtimecorba.org 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). Testing Non HRTP Implementation

28. Copyright © 2002 The HRTC Consortium. www.hardrealtimecorba.org. All rights reserved.www.hardrealtimecorba.org IST 37652 / Hard Real-time CORBA WP4 / M. Rodríguez / Lund 16 September 2003 Concurrency 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 Implementation

29. Copyright © 2002 The HRTC Consortium. www.hardrealtimecorba.org. All rights reserved.www.hardrealtimecorba.org IST 37652 / Hard Real-time CORBA WP4 / M. Rodríguez / Lund 16 September 2003 HWImplementation Non HRTP Implementation

30. Copyright © 2002 The HRTC Consortium. www.hardrealtimecorba.org. All rights reserved.www.hardrealtimecorba.org IST 37652 / Hard Real-time CORBA WP4 / M. Rodríguez / Lund 16 September 2003 Testing Non HRTP Implementation Only some testing with multiple virtual objects(regulators) accesing a single node (sensor) has been conducted.

31. Copyright © 2002 The HRTC Consortium. www.hardrealtimecorba.org. All rights reserved.www.hardrealtimecorba.org IST 37652 / Hard Real-time CORBA WP4 / M. Rodríguez / Lund 16 September 2003 HRTP Implementation

32. Copyright © 2002 The HRTC Consortium. www.hardrealtimecorba.org. All rights reserved.www.hardrealtimecorba.org IST 37652 / Hard Real-time CORBA WP4 / M. Rodríguez / Lund 16 September 2003 TTP/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 Implementation

33. Copyright © 2002 The HRTC Consortium. www.hardrealtimecorba.org. All rights reserved.www.hardrealtimecorba.org IST 37652 / Hard Real-time CORBA WP4 / M. Rodríguez / Lund 16 September 2003 HWImplementation HRTP Implementation

34. Copyright © 2002 The HRTC Consortium. www.hardrealtimecorba.org. All rights reserved.www.hardrealtimecorba.org IST 37652 / Hard Real-time CORBA WP4 / M. Rodríguez / Lund 16 September 2003 Asynchronous event management 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 Implementation

35. Copyright © 2002 The HRTC Consortium. www.hardrealtimecorba.org. All rights reserved.www.hardrealtimecorba.org IST 37652 / Hard Real-time CORBA WP4 / M. Rodríguez / Lund 16 September 2003 HWImplementation HRTP Implementation

36. Copyright © 2002 The HRTC Consortium. www.hardrealtimecorba.org. All rights reserved.www.hardrealtimecorba.org IST 37652 / Hard Real-time CORBA WP4 / M. Rodríguez / Lund 16 September 2003 Network 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 Implementation

37. Copyright © 2002 The HRTC Consortium. www.hardrealtimecorba.org. All rights reserved.www.hardrealtimecorba.org IST 37652 / Hard Real-time CORBA WP4 / M. Rodríguez / Lund 16 September 2003 HWImplementation HRTP Implementation

38. Copyright © 2002 The HRTC Consortium. www.hardrealtimecorba.org. All rights reserved.www.hardrealtimecorba.org IST 37652 / Hard Real-time CORBA WP4 / M. Rodríguez / Lund 16 September 2003 Conclusions Conclusions

39. Copyright © 2002 The HRTC Consortium. www.hardrealtimecorba.org. All rights reserved.www.hardrealtimecorba.org IST 37652 / Hard Real-time CORBA WP4 / M. Rodríguez / Lund 16 September 2003 Conclusions  There 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.

40. Copyright © 2002 The HRTC Consortium. www.hardrealtimecorba.org. All rights reserved.www.hardrealtimecorba.org 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 tests  Complete Documentation and evaluation of the PCT. Work pending

41. Copyright © 2002 The HRTC Consortium. www.hardrealtimecorba.org. All rights reserved.www.hardrealtimecorba.org IST 37652 / Hard Real-time CORBA WP4 / M. Rodríguez / Lund 16 September 2003 HRTC