Abstract
Real-time Ethernet (RTE) control systems with critical real-time requirements are called fast real-time (FRT) systems. To improve the real-time performance of Ethernet for plant automation (EPA), we propose an EPA-FRT scheme. The minimum macrocycle of EPA networks is reduced by redefining the EPA network frame format, and the synchronization process is modified to acquire higher accuracy. A multi-segmented topology with a scheduling scheme is introduced to increase effective bandwidth utilization and reduce protocol overheads, and thus to shorten the communication cycle significantly. Performance analysis and practical tests on a prototype system show the effectiveness of the proposed scheme, which achieves the best performance at small periodic payload in large scale systems.
Similar content being viewed by others
References
Cena, G., Bertolotti, I.C., Scanzio, S., Valenzano, A., Zunino, C., 2012. Evaluation of EtherCAT distributed clock performance. IEEE Trans. Ind. Inf., 8(1):20–29. [doi:10.1109/TII.2011.2172434]
Cereia, M., Bertolotti, I.C., Scanzio, S., 2011. Performance of a real-time EtherCAT master under Linux. IEEE Trans. Ind. Inf., 7(4):679–687. [doi:10.1109/TII.2011.2166777]
Chen, S.X., An, B., 2010. Time Performance Research on Field Bus Based CNC System. Proc. 2nd ICMEE, p.56–59. [doi:10.1109/icmee.2010.5558489]
Decotignie, J.D., 2005. Ethernet-based real-time and industrial communications. Proc. IEEE, 93(6):1102–1117. [doi:10.1109/JPROC.2005.849721]
Erwinski, K., Paprocki, M., Grzesiak, L.M., Karwowski, K., Wawrzak, A., 2013. Application of Ethernet Powerlink for communication in a Linux RTAI open CNC system. IEEE Trans. Ind. Electron., 60(2):628–636. [doi:10.1109/TIE.2012.2206348]
Felser, M., 2005. Real-time Ethernet—industry prospective. Proc. IEEE, 93(6):1118–1129. [doi:10.1109/JPROC.2005.849720]
Ferrari, P., Flammini, A., Vitturi, S., 2006. Performance analysis of PROFINET networks. Comput. Stand. Interf., 28(4):369–385. [doi:10.1016/j.csi.2005.03.008]
Ferrari, P., Flammini, A., Rinaldi, S., Sisinni, E., 2010. On the seamless interconnection of IEEE1588-based devices using a PROFINET IO infrastructure. IEEE Trans. Ind. Inf., 6(3):381–392. [doi:10.1109/TII.2010.2051954]
FF-581:2003. Fieldbus Foundation System Architecture Specification. Fieldbus Foundation, Austin, TX.
Gaderer, G., Loschmidt, P., Sauter, T., 2010. Improving fault tolerance in high-precision clock synchronization. IEEE Trans. Ind. Inf., 6(2):206–215. [doi:10.1109/TII.2010.2044580]
Gao, T., Yu, D., Vue, D., Hu, Y., 2010. Design and Implementation of Communication Platform in CNC System. Proc. IEEE/ASME Int. Conf. on MESA, p.355–360. [doi:10.1109/MESA.2010.5552046]
Hanzalek, Z., Burget, P., Sucha, P., 2010. PROFINET IO IRT message scheduling with temporal constraints. IEEE Trans. Ind. Inf., 6(3):369–380. [doi:10.1109/TII.2010.2052819]
Hespanha, J.P., Naghshtabrizi, P., Xu, Y.G., 2007. A survey of recent results in networked control systems. Proc. IEEE, 95(1):138–162. [doi:10.1109/JPROC.2006.887288]
Hong, S.H., Song, S.M., 2008. Transmission of a scheduled message using a foundation Fieldbus protocol. IEEE Trans. Instrum. Meas., 57(2):268–275. [doi:10.1109/TIM.2007.910100]
IEC 61158-3, 4, 5, 6:2000. Digital Data Communications for Measurement and Control — Parts 3 to 6: Fieldbus for Use in Industrial Control Systems. IEC, Geneva, Switzerland.
IEC 61784-1:2007. Industrial Communication Networks — Part 1: Digital Data Communications for Measurement and Control — Part 1: Profile Sets for Continuous and Discrete Manufacturing Relative to Fieldbus Use in Industrial Control Systems. IEC, Geneva, Switzerland.
IEC 61784-2:2007. Digital Data Communications for Measurement and Control — Part 2: Additional Profiles for ISO/IEC8802-3 Based Communication Networks in Real-Time Applications. IEC, Geneva, Switzerland.
IEC 61784-14:2007. Industrial Communication Networks — Part 14: Additional Fieldbus Profiles for Real-Time Networks Based on ISO/IEC 8802-3. IEC, Geneva, Switzerland.
IEEE 1588:2008. Precision Clock Synchronization Protocol for Networked Measurement and Control Systems.
IEEE 802.3:2005. Carrier Sense Multiple Access with Collision Detection (CSMA/CD) Access Method and Physical Layer Specifications.
Jasperneite, J., Schumacher, M., Weber, K., 2007. Limits of Increasing the Performance of Industrial Ethernet Protocols. IEEE Conf. on Emerging Technologies & Factory Automation, p.17–24. [doi:10.1109/EFTA.2007.4416748]
Kim, K., Sung, M., Jin, H.W., 2012. Design and implementation of a delay-guaranteed motor drive for precision motion control. IEEE Trans. Ind. Inf., 8(2):351–365. [doi:10.1109/TII.2011.2166774]
Monmasson, E., Idkhajine, L., Cirstea, M.N., Bahri, I., Tisan, A., Naouar, M.W., 2011. FPGAs in industrial control applications. IEEE Trans. Ind. Inf., 7(2):224–243. [doi:10.1109/TII.2011.2123908]
Prytz, G., 2008. A Performance Analysis of EtherCAT and PROFINET IRT. IEEE Conf. on Emerging Technologies & Factory Automation, p.408–415. [doi:10.1109/EFTA.2008.4638425]
Raja, P., Ruiz, L., Decotignie, J.D., 1994. Modeling and Scheduling Real-Time Control Systems with Relative Consistency Constraints. Proc. 6th Euromicro Workshop on Real-Time Systems, p.46–52. [doi:10.1109/EMWRTS.1994.336866]
Sauter, T., 2007. The continuing evolution of integration in manufacturing automation. IEEE Ind. Electron. Mag., 1(1):10–19. [doi:10.1109/MIE.2007.357183]
Sauter, T., 2010. The three generations of field-level networks—evolution and compatibility issues. IEEE Trans. Ind. Electron., 57(11):3585–3595. [doi:10.1109/TIE.2010.2062473]
Sauter, T., Vasques, F., 2006. Special section on communication in automation. IEEE Trans. Ind. Inf., 2(2):73–77. [doi:10.1109/TII.2006.875801]
Schumacher, M., Jasperneite, J., Weber, K., 2008. A New Approach for Increasing the Performance of the Industrial Ethernet System PROFINET. IEEE Int. Workshop on Factory Communication Systems, p.159–167. [doi:10.1009/WFCS.2008.4638725]
van den Heuvel, M.M.H.P., Bril, R.J., Lukkien, J.J., 2012. Transparent synchronization protocols for compositional real-time systems. IEEE Trans. Ind. Inf., 8(2):322–336. [doi:10.1109/TII.2011.2172448]
Vitturi, S., Peretti, L., Seno, L., Zigliotto, M., Zunino, C., 2011. Real-time Ethernet networks for motion control. Comput. Stand. Interf., 33(5):465–476. [doi:10.1016/j.csi.2011.01.005]
Author information
Authors and Affiliations
Corresponding authors
Additional information
Project supported by the National High-Tech R&D Program (863) of China (No. 2008AA042602) and the National Natural Science Foundation of China (Nos. 61075078 and 61074028)
Rights and permissions
About this article
Cite this article
Lu, L., Feng, Dq. & Chu, J. Improving the real-time performance of Ethernet for plant automation (EPA) based industrial networks. J. Zhejiang Univ. - Sci. C 14, 433–448 (2013). https://doi.org/10.1631/jzus.C1200363
Received:
Accepted:
Published:
Issue Date:
DOI: https://doi.org/10.1631/jzus.C1200363
Key words
- Ethernet for plant automation (EPA)
- Fast real-time (FRT) system
- Real-time Ethernet (RTE)
- Scheduling scheme