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Coexistence For Industrial Wireless Communication Systems in The Context of Industrie 4.0
Coexistence For Industrial Wireless Communication Systems in The Context of Industrie 4.0
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Furthermore, every p(i) has at least one logical link l, which We divide the functionality of a W D into a distributed
describes the connection from S to T . Therefore, we classify application function (DAF ) represented by θDAF and a
every sub-plant with p(i,l) . The controller C represents a set wireless communication function (W CF ) represented by
of central or distributed coexistence management functions θW CF . In S, DAF is responsible for message generation and
implemented in instances of the class coexistence controller. W CF is responsible for, i. a. medium access, link control
The reference parameter vector W (i,l) is a set of required or wireless transmission. In T, W CF determines on success
characteristic parameter values from all distributed automa- of message transmission and DAF processes the received
tion applications p(i,l) . The control parameter vector Y (i,l) message. For the purpose of coexistence management DAF
represents the set of measured values of the characteristic pa- also calculates the characteristic parameter values and evalu-
rameters in p(i,l) . The difference between required and actual ates the coexistence state. The medium is represented by θm
characteristic parameter values result in the error parameter for the interf erence − f ree state (nominal state). Thus, θd
vector E (i,l) in p(i,l) . The controller C uses the influencing implements the calculation of interferences for each message
parameters of the distributed automation applications or of transmission for later evaluation of coexistence. In fig. 5 we
the wireless devices as manipulated parameter vector U (i,l) indicate the interference case with dashed arcs. In this paper
for each p(i,l) . The disturbance parameter vector D(i,l) we focus on the description of the nominal behaviour of
represents the active environmental influencing parameters the introduced Petri-net model. That means even through we
affected by the passive influencing parameters in p(i,l) . For are describing the modelling of the wireless transmission for
the design of an automated coexistence management, we different W CS. It is important to underline, that we are
start with modelling of the coexistence plant P . In [1] we assuming for this purpose that these W CS not interfere
showed a first modelling approach in Petri-net graph notation each other. For the nominal behaviour the set of places
G = (θ, λ, ξ, ν), whereat θ is the set of places, λ is the set are constituted as {θDAF s , θW CF s , θm , θDAF t , θW CF t } ∈
of transitions, ξ is the set of arcs and ν is the set of its θ. The transitions λref s and λref t represent the message
weights (see Fig. 5). Furthermore, we defined the behaviour transfer via source reference interface and target reference
of the Petri-net P N = (G, x(0), v), whereat x(0) presents interface. λm1 represents the medium transition in S for
the vector of the initial marking state and v presents the the medium and λm2 represents the transition from medium
vector of transition delays. With respect to P N we defined to T , such that {λref s , λm1 , λm2 , λref t } ∈ λ. We describe
the transformation from wireless industrial automation to messages with its properties by using coloured tokens. In
Petri-net according to table (tab.) I. tab. II relevant properties are listed.
TABLE I TABLE II
T RANSFORMATION OF MODEL ELEMENTS FOR WIRELESS INDUSTRIAL P ROPERTIES OF A MESSAGE
AUTOMATION TO P ETRI - NET Properties Parameter
Model element in Petri-net modelling W CS type ST ID
wireless industrial automation element W CS SID
Processing and buffer for messages Place θ Logical link (S, T) LLID(S, T )
Processing for messages Transition λ Message identifier M ID
Time behaviour of message Transition delay v of λ Time of occupied medium ton
transmissions Time of not occupied medium tof f
Transmission path of messages arc ξ Physical link (S, T) P LID(S, T )
Total number of messages per path weight ν Transmit power (S, T) EIRP (S, T )
Message Token Interference vector (EIRP (S, T ), f, ton )
Message properties, see tab. II Token properties Success of message transmission SM T
Delay in S (DAF , W CF ) v1 , v 2
Delay in T (DAF , W CF ) v4
Delay of medium v3
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coexistence state xc of P . We split the coexistence state in get
(i,l) (i,l) (i,l)
xc = [xdis , xtb ]T ], whereat xdis is the state of θ with (i,l)+ (i,l)+
(i,l) x1tb ε ε ε ε x1tb
their allocated token and xtb models the time behaviour of (i,l)+ v (i,l) (i,l)+
token transmissions (Message transmissions over all logical x2tb 2 ε ε ε
x2tb
(i,l)+ = (i,l) (i,l)+ ⊕ (6)
links in all W CS). In this contribution we will show an x3tb ε v3 ε ε x3tb
(i,l)+ (i,l) (i,l)+
extension of our model with respect to the wireless commu- x4tb ε ε v4 ε x4tb
nication of more than one W CS. Since we are focussing on | {z }
(i,l) A0
the nominal behaviour xdis = [x1 , x2 , x3 , x4 , x5 ]T , which (i,l)
corresponds θ = [θDAF s , θW CF s , θDAF t , θm , θW CF t ]T as v1
ε (i,l)+
places with their allocated token. For the initial marking ⊕
ε u (7)
(i,l)
we have xdis (0) = [x01 , x02 , x03 , x04 , x05 ]T . The marking
distribution in places describes the following model ε
| {z }
B0
1 −1 0 0 0 0 (i,l)
(i,l)
0 1 −1 0 0 0 y = ε ε ε e xtb . (8)
(i,l)+ (i,l)
xdis = xdis + 0 0 1 −1 0 0 ej , (1) For the explicit form we take the rule, see [14]
0 0 0 1 −1 0
(i,l)+
0 0 0 0 1 −1 xtb = (A30 ⊕ A20 ⊕ A0 ⊕ E)(B0 u(i,l)+ ), (9)
whereat ej = [λin , λref s , λm1 , λm2 , λref t , λout ]T is a binary with A∗ = A30 ⊕ A20 ⊕ A0 ⊕ E. For using this rule we have
vector of switching transitions. to prove that A40 = N . That means A0 has no circuit. We
In the reminder of this contribution we use the state space consider the worst case for A0 , such that ∀v1,2,3,4 6= εM .
representation of the timed-based Petri-net. We switch from That means every place in p(i,l) is empty. A0 is given in eq.
Petri-net specific symbols to those common in control theory. 8. For proving that A40 = N we consider the path of delay
(i,l) weights, the precedence graph ρ(A0 ), fig. 6
For describing the time behaviour of P we introduce xtb =
{x1tb , x2tb , x3tb , x4tb }T as time stamps of a token when the
vector transition λ(i,l) = [λref s , λm1 , λm2 , λref t ]T fires. The v2
(i,l)
relevant time delay represents v (i,l) = [v1 , v2 , v3 , v4 ]T for 1 2
v3 (i,l)
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Anritsu In fig. 9 we zoom one time stamp for considering the
time delay from input signal to output signal. Here we
W iF i have a delay from 0.001917 s, which corresponds to the
T AP AP QP ER Client T AP
measurements. In tab. V we present the transmission time
per event k.
PC
TABLE III
T RANSMISSION TIME FOR NOMINAL CASE
Fig. 7. WiFi system setup for a 2.4 GHz frequency spectrum [1]
Event k Transmission time [s]
1 0.001917
For this purpose the W iF i traffic from access point (AP ) 2 0.001885
3 0.001882
(S) to the client (T ) is recorded and the characteristic values
4 0.001904
are determined for model parametrisation. The behaviour 5 0.001908
of the wireless transmission channel is emulated by the
Qosmotec Propagation Effects Replication (QP ER). A fixed
distance of 10 m is configured between access point and VI. C ONCLUSION
client. The application-related traffic is generated through
the Anritsu, which we configured with an attenuation from In this contribution we derived a nominal plant model for
−60 dB. The output power is 10 dBm. PROFINET IO the evaluation of an application-related, technology indepen-
(P N IO) is used as application traffic. P N IO messages with dent automated coexistence management process with Petri-
a data length of 1024 Bit are transmitted at a transfer interval net modelling in max − plus algebra. The coexistence plant
of 2 ms (periodic signal). The test access point (T AP ) cre- provides fundamental communication relationships between
ates a passive access point to the Ethernet network and copies different wireless communication systems, like the time
the test traffic at the reference interface to the measuring behaviour of messages in a communication net. We showed
computer P C. In fig. 8 we simulate time stamps of the input that the precedence graph has no circuit to generate the
signal (transfer interval uin ) with a periodic behaviour and explicit form for the plant model in state space model repre-
the time stamps of the output signal (transmission time x4 ) sentation. Hence we can investigate the system behaviour,
according to eq. 9 for 5 events in nominal case for Rmax . e.g. the dynamics for stability analysis. Furthermore, we
In Rmax the transition is active (firing transition) at e and parametrized the model in a specific test environment in a
inactive (non firing transition), at . 2.4 GHz frequency spectrum for WiFi.
We presented the modelling for a general coexistence
plant in interference-free (nominal) case. The next step is
Transfer interval of logical link 1 from p 1 in Rmax
1 modelling of the disturbance for interference cases with
Activity
0
Parts of this work are funded by ReICoVAir (16KIS0417)
-1 through the German Ministry of Research and Education
0 2 4 6 8 10
Time event of k-th firing stamp x
4
(BMBF).
1
Transmission time of logical link 1 from p 1 in Rmax Coexistence Management,” IEC, Tech. Rep., 2014.
Activity
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