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Procedia CIRP 41 (2016) 723 728
* Corresponding author. Tel.: +30 2610 997262; fax: +30 2610 997744. E-mail address: xrisol@lms.mech.upatras.gr.
Abstract
Manufacturing systems utilize data communications in order to monitor and control signals to be communicated either between the
process and the controller or within the Manufacturing Execution System (MES), in general. Such communications, mostly
wireless, which are usually studied in the framework of Networked Control Systems (NCS), have certain effects on the control
performance. The current study deals with the modeling of such a production subsystem as a NCS and with pointing out the main
aspects, namely delay in the signals due to queuing, packets loss due to routing and corresponding protocols, or even measurements
distortion under additive channel noise.
2015
2015 The
TheAuthors.
Authors.Published
Publishedby
byElsevier
ElsevierB.V.
B.V.This is an open access article under the CC BY-NC-ND license
Peer-review under responsibility of the Scientific Committee of 48th CIRP Conference on MANUFACTURING SYSTEMS - CIRP
(http://creativecommons.org/licenses/by-nc-nd/4.0/).
CMS 2015.under responsibility of the scientific committee of 48th CIRP Conference on MANUFACTURING SYSTEMS - CIRP CMS 2015
Peer-review
Keywords: Manufacturing Process; Networked Control System; Monitoring System; Measurement Error
1. Introduction
2212-8271 2015 The Authors. Published by Elsevier B.V. This is an open access article under the CC BY-NC-ND license
(http://creativecommons.org/licenses/by-nc-nd/4.0/).
Peer-review under responsibility of the scientific committee of 48th CIRP Conference on MANUFACTURING SYSTEMS - CIRP CMS 2015
doi:10.1016/j.procir.2015.12.041
724 Alexios Papacharalampopoulos et al. / Procedia CIRP 41 (2016) 723 728
3. Delays Effect The stability definition [16, 20, 21] depends on the
modeling. This is synoptically shown in this section, by
3.1. Effect on Performance using as empirical stability criterion. As it can be seen
through the simulations run, the use of a constant delay
D
According to the standards of networks [19] and the z , results in the unstable behavior for D>2. However,
d
controllers design and implementation, various kinds of when using a variable delay z with the stochastic
delays can take place within a network such as: variable d being:
x transmission
x propagation 0, with prob. 50%
x queuing d
x computation Dmax , with prob. 50%
726 Alexios Papacharalampopoulos et al. / Procedia CIRP 41 (2016) 723 728
Fig.8. Response of closed system with stability effect for Dmax=30 Fig.11. Quantizing the control signal
4. Packets Loss
0.8
in [msec]
0.6 Overshoot (S%) 17 49 (-)59 69
0.4 target Table 2. Performance Indicators values for Packets Drop-out effect
closed - SNR=120dB
0.2 closed - SNR=60dB (N/M denotes Non-Measurable, as the output behavior is stochastically
closed - SNR=20dB oscillating)
0
0 0.005 0.01 0.015 0.02 0.025 0.03 Performance Packets Drop-out Probability (Fig. 9)
time [sec]
Indicators 0,1% 1% 10% 50%
Fig.13. Responses of closed system with AWGN in the control signal R 4 5 N/M N/M
for various values of SNR. S% 0 (-)25 (-)44 (-)58
Nevertheless, the simulation of a noisy channel and the
cyclic redundancy checking exceeds the purposes of this Table 3. Performance Indicators values for Measurement Distortion
study, so additional white Gaussian noise (AWGN) is effect (P/I stands for Potentially Infinite, as the output seems to
put into the control signal. In the following figure perform a damp-less oscillation)
(Figure 13), various responses are given to this case, Performance Quantization Interval (Fig. 11)
using SNR as parameter. The delay in the feedback Indicators 0.001 0.01 0.1 0.5
branch has also been recorded. R 0.001 0.001 P/I P/I
As observed, while the SNR increases, the systems S% 0 0.001 3 13.5
behavior, in terms of tracking performance, clearly In order for each of the obstacles on the wireless
worsens. It should also to be noted that the value for communication of networked manufacturing systems to
fixing steady-state-error is K=1.245 (due to the unitary be better visualized and for conclusions to be drawn
delay in the feedback branch). Visualization in Figure 13 about the sensitivity of the systems, in terms of
is not the same as in the other cases, since a different performance indicators, the following diagrams have
tool has been used for its extraction. The dots indicate been deployed.
the value at the corresponding time points and the lines
in between are of first order instead of zero-th. 7. Conclusions, Challenges & Outlook
6. Control Performance Indicators and Sensitivity Nowadays, manufacturing systems can be quite
Analysis complex and as a result, the current trends have asked
for communication among various units. The need for
After the effects of the various delays in closed loop remote control, to a great extent, has also contributed to
systems have been examined, an approach for the this. An implication of data communication can be the
establishment of control performance indicators has been deterioration of the controlled systems performance.
performed. The declaration of these indicators has Consequently, the robust design of such systems and / or
enhanced a sensitivity analysis, which explored the most controllers must inevitably take into consideration any
crucial parameters (delays, packets loss, and structural modeling uncertainties related to
measurement distortion) that affected the performance of communication, namely delay, distortion or packets
such closed loop control systems, in the manufacturing drop-out.
sector. The response time and the overshoot of the Moreover, a sensitivity analysis for the most crucial
system were selected as the most suitable indicators parameters should be performed in order for the
based also on previous work regarding PID controllers engineers to be able to choose the right hardware
[24]. Response Time is defined as the time required for protocols thus, avoiding the aforementioned effects in
the systems output to be bounded by a variation of 5% their systems operation. Additionally, even a greater
of the final (steady state) value. Overshoot is the challenge is the use of techniques and controllers that
percentage of the final value reached by the maximum require design and implementation in accordance to lean
value of the output. The following tables show the manufacturing, while maintaining a non-complex
extracted values of the performance indicators for each structure. The use of static gains as controllers seems to
kind of delay. be addressing these kinds of criteria.
728 Alexios Papacharalampopoulos et al. / Procedia CIRP 41 (2016) 723 728