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Radio Technology for Real-Time Application -The flexWARE Project
Wireless Factory Starter Group Meeting N° 120 - 21 October 2009 - ETSI,Sophia Antipolis, France
Lutz Rauchhaupt - The flexWARE Project - 21st October 20091
Dr.-Ing. Lutz Rauchhaupt
Institut für Automation und Kommunikation e.V. MagdeburgWerner-Heisenberg-Str. 139106 MagdeburgTel. +49 391 9901495Fax: +49 391 9901590E-mail: [email protected]
Institut f. Automation und Kommunikation e.V. MagdeburgResearch topic "Wireless Industrial Communication"
Integration of wireless technologies and solutions into automation communication networks
Assessment of wireless technologies and solutions with respect to industrial automation applications
Lutz Rauchhaupt - The flexWARE Project - 21st October 20092
Outline
1. flexWARE Target Application Scenarios
2. flexWARE Key Features
Lutz Rauchhaupt - The flexWARE Project - 21st October 20093
3. flexWARE Architecture
4. flexWARE Basic Technology Investigations
� Wireless LAN
� DECT CLDPS
Flexible Wireless Automation in Real-Time Environments
� Funded by European Commission (7. Framework, STREP, Objective 3 „ICT-2007-2“, FKZ: ICT-224359)
� Duration: 09/2008 - 08/2011
� Coordinator: Austrian Academy of Sciences (AAS, AUT)� Partners:
� Austrian Academy of Sciences (AAS, AUT)
Lutz Rauchhaupt - The flexWARE Project - 21st October 20094
Austrian Academy of Sciences (AAS, AUT)� Institute for Industrial IT (inIT, GER)� Institut für Automation und Kommunikation (ifak, GER)� Connect Blue (cB, SWE)� Oregano Systems GmbH (ore, AUT)� University of Catania (uniCT, ITA)� Schneider Electric (schn, FRA)� rt-Solution.de GmbH (rt-sol, GER)
� Website: http://www.flexware.at
flexWARE Target Application Fields
Storage systems Luggage transport systems
Lutz Rauchhaupt - The flexWARE Project - 21st October 20095
Crane systems
flexWARE Target Application Scenario Provided by FIG Members
AGVs for smart warehouse
Description:Up to 100 AGVs moving in a 100m x 100m areaDynamic path calculationMoving speed: up to 10m/sCentralised architecture managed by a controller in the backbone networkNeed for mobile wireless push buttons for global emergency s top of all
Lutz Rauchhaupt - The flexWARE Project - 21st October 20096
Need for mobile wireless push buttons for global emergency s top of all vehicles
Expected performances:AGV PLC � backbone: non critical traffic (traceability, non critical commands), latency between 50 ms and 100 msAGV PLC � devices: latency < 2 ms, so wireless is not considered here.Central controller � HMI (mobile wireless emergency stop)
Trend for the future: convergence between different wireless technologies with central configuration and maintenance. Strong interest for middleware independent from wireless technology .
flexWARE Target Application Scenario Provided by FIG Members
Wireless industrial cranes over electrolytic cells for aluminium reduction
Description of the setup:2 parallel rows of 200 electrolytic cells (1500m long)8 overhead cranes move along the cells to handle the raw materials in and the liquid metal outEach crane operates over 300m
Lutz Rauchhaupt - The flexWARE Project - 21st October 20097
Wireless communications:Crane PLC � central controller in the plant backbone
Task assignment & emergency commands from central controller to the craneReport of status information by the craneHMI traffic for the operator of the crane
Crane PLC � Crane PLC Anti-collision system
Main requirements:Network Security, Reliability, Safety (SIL3)
� Factory Automation based on wireless technology
� Support of� Mobility� Flexibility � Scalability
flexWARE � Integrated Solution for Factory Automation
Lutz Rauchhaupt - The flexWARE Project - 21st October 20098
� Scalability� Network Based Control� Quality of Service� Safety and security
flexWARE Key Features
� Multiple cells under one roof (Bandwidth and range limitation)
� Seamless handover between cells (Real-time requirements)
� Resource management (Bandwidth limitation and real-time requirements)
Lutz Rauchhaupt - The flexWARE Project - 21st October 20099
� Need for location awareness (Safety requirements and fast handover)
� Clock synchronisation (Localisation and real-time requirements)
� Integrated security approach (Safety requirements)
flexWARE System Architektur
flexWARE controller
flexWARE access point
Real-time Backbone Network
Lutz Rauchhaupt - The flexWARE Project - 21st October 200910
flexWAREnode
Automation device
Wireless communication
flexWARE QoS Architecture: Controller (FC)
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flexWARE QoS Architecture: Access Point (FAP)
Lutz Rauchhaupt - The flexWARE Project - 21st October 200912
flexWARE QoS Architecture: Node (FN)
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flexWARE Handover Concept
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Approach: Usage of position information and the available centralised view of the system
Investigation of the Timing Behaviour of Industrial Wireless LAN Solutions
Condition summary -40
-30
1 m 3 m 10 m
Tx ChannelInterfererWLAN 3
Tx ChannelInterfererWLAN 2
Tx ChannelSUT
WLAN 1
Tests objective
� Investigation of influences to the time behaviour� Wireless data rate
� Implementation
� Adjacent channel interference
Lutz Rauchhaupt - The flexWARE Project - 21st October 200915
Condition summary
� 3 industrial WLAN solutions from different manufacturers
� 93 test cases with 500.000 packet transmissions each (93 Mio time values)
� WLAN Channel 1, 7, 13
� Data rates [MBit/s]: 6, 9, 12, 18, 24, 36, 48, 54, auto
2400 2410 2420 2430 2440 2450 2460 2470 2480-100
-90
-80
-70
-60
-50
-40
Leve
l [dB
m]
Frequency [MHz]
Test Setup for WLAN Investigations
1, 3
, 10
m
APChannel 13Communication Load: 1518 Bytes / 0,4 ms
APChannel 7
10 m
Communication Load: 64 Bytes / 10 ms
APChannel 1Communication Load: 1518 Bytes / 0,4 ms
1, 3
, 10
m
WLAN 1 With Different Data Rates Without Interferer
100
1000
10000
100000
1000000
Num
ber
of P
acke
ts
100
1000
10000
100000
1000000
Num
ber
of P
acke
ts
Lutz Rauchhaupt - The flexWARE Project - 21st October 200917
Transmission Delay at 6 MBit/s Transmission Delay at 54 MBit/s
0 5 10 15 20 25 30 35 40 45
1
10
100
Num
ber
of P
acke
ts
Transmission Delay [ms]0 5 10 15 20 25 30 35 40 45
1
10
100
Num
ber
of P
acke
ts
Transmission Delay [ms]
Transmission Delay at Different Data Rates
6
8
10
12
Tra
nsm
issi
on D
elay
[ms]
Minimum Maximum Percentil 95th
Lutz Rauchhaupt - The flexWARE Project - 21st October 200918
0
2
4
6
TC 1.1.1 TC 1.1.2 TC 1.1.3 TC 1.1.4 TC 1.1.5 TC 1.1.6 TC 1.1.7 TC 1.1.8 TC 1.1.9
6 Mbps 9 Mbps 12 Mbps 18 Mbps 24 Mbps 36 Mbps 48 Mbps 54 Mbps automatic
Tra
nsm
issi
on D
elay
[ms]
WLAN 1 at 12 MBit/s without Interferer
100
1000
10000
100000
1000000
Num
ber
of P
acke
ts
100
1000
10000
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1000000
Num
ber
of P
acke
ts
Lutz Rauchhaupt - The flexWARE Project - 21st October 200919
Transmission Delay for Test Case 1.1.3 Update Time for Test Case 1.1.3
0 5 10 15 20 25 30 35 40 45
1
10
100
Num
ber
of P
acke
ts
Transmission Delay [ms]0 10 20 30 40 50 60
1
10
100
Num
ber
of P
acke
ts
Update Time [ms]
WLAN 2 at 12 MBit/s without Interferer
100
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ber
of P
acke
ts
100
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1000000
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ber
of P
acke
ts
Lutz Rauchhaupt - The flexWARE Project - 21st October 200920
Transmission Delay for Test Case 2.1.3 Update Time for Test Case 2.1.3
0 5 10 15 20 25 30 35 40 45
1
10Num
ber
of P
acke
ts
Transmission Delay [ms]0 10 20 30 40 50 60
1
10Num
ber
of P
acke
ts
Update Time [ms]
WLAN 3 at 12 MBit/s without Interferer
100
1000
10000
100000
1000000
Num
ber
of P
acke
ts
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1000000
Num
ber
of P
acke
ts
Lutz Rauchhaupt - The flexWARE Project - 21st October 200921
Transmission Delay for Test Case 3.1.3 Update Time for Test Case 3.1.3
0 5 10 15 20 25 30 35 40 45
1
10
100
Num
ber
of P
acke
ts
Transmission Delay [ms]0 10 20 30 40 50 60
1
10
100
Num
ber
of P
acke
ts
Update Time [ms]
Timing of WLAN 1 (Channel 7, 12 MBit/s) with Interferences from Channel 1 and 13
0 5 10 15 20 25 30 35 40 45
1
10
100
1000
10000
100000
1000000
Num
ber
of P
acke
ts
Transmission Delay [ms]
0 5 10 15 20 25 30 35 40 45
1
10
100
1000
10000
100000
1000000
Num
ber
of P
acke
ts
Transmission Delay [ms]
0 5 10 15 20 25 30 35 40 45
1
10
100
1000
10000
100000
1000000
Num
ber
of P
acke
ts
Transmission Delay [ms]
Lutz Rauchhaupt - The flexWARE Project - 21st October 200922
Distance of the interferer = 1 m = 3 m = 10 m
Transmission Delay [ms]
0 10 20 30 40 50 60
1
10
100
1000
10000
100000
1000000
Num
ber
of P
acke
ts
Update Time [ms]
Transmission Delay [ms]
0 10 20 30 40 50 60
1
10
100
1000
10000
100000
1000000
Num
ber
of P
acke
ts
Update Time [ms]
Transmission Delay [ms]
0 10 20 30 40 50 60
1
10
100
1000
10000
100000
1000000
Num
ber
of P
acke
ts
Update Time [ms]
Timing of WLAN 1, 2 and 3 (Channel 7, 12 MBit/s) with Interferences from Channel 1 and 13 in 3 m distance
0 5 10 15 20 25 30 35 40 45
1
10
100
1000
10000
100000
1000000
Num
ber
of P
acke
ts
Transmission Delay [ms]
0 5 10 15 20 25 30 35 40 45
1
10
100
1000
10000
100000
1000000
Num
ber
of P
acke
ts
Transmission Delay [ms]
0 5 10 15 20 25 30 35 40 45
1
10
100
1000
10000
100000
1000000
Num
ber
of P
acke
ts
Transmission Delay [ms]
Lutz Rauchhaupt - The flexWARE Project - 21st October 200923
WLAN 1 WLAN 2 WLAN 3
Transmission Delay [ms]
0 10 20 30 40 50 60
1
10
100
1000
10000
100000
1000000
Num
ber
of P
acke
ts
Update Time [ms]
Transmission Delay [ms]
0 10 20 30 40 50 60
1
10
100
1000
10000
100000
1000000
Num
ber
of P
acke
ts
Update Time [ms]
Transmission Delay [ms]
0 10 20 30 40 50 60
1
10
100
1000
10000
100000
1000000
Num
ber
of P
acke
ts
Update Time [ms]
Investigation of the Timing Behaviour of DECT CLDPS Protocol
Point-to-Point-Connection
Point-to-Point-Connection
FT-PT1
PT1-FT
DECT
DECT with CLDPS
Timing Behaviour Investigations of a DECT SolutionTest objective� Investigation of influences to the time
behaviour� Principal behaviour� Optimisation potential
Influencing values for defining test cases
Lutz Rauchhaupt - The flexWARE Project - 21st October 200924
Point-to-Point-Connection
FT-PT1
PTs-FT with Burst Transfer FT-PTs
Point-to-Multipoint-Connection
Multipoint-to-Point-Connection
Burst Transfer FT-PTs
Distributed Transfer FT-PTs
Distributed Transfer FT-PTs with Transfer PTs-FT
Burst Transfer FT-PTs with Transfer PTs-FT
PTs-FT with Distributed Transfer FT-PTs
PT1-FT
Influencing values for defining test cases� ca. 30 test cases has been executed with
10.000 packets per connection (ca. 5,6 Mio time values)
� User data length: 64 Byte (1518 Byte)� Application cycle: 5 ms ... 70 ms
Test Architecture for DECT with CLDPS
Test Application
Distributed Test
Distributed Test ComponentDistributed Test
ComponentDistributed Test
Anritsu Data Quality Analyser
Test Producer or Test Consumer
Test Producer or Test Consumer
DUTDUT
Wireless Communication MediaDECT with CLDPS
Conditions
Communication Characteristics
Communication InterfaceEthernet 10 MBit/s
Distributed Test Component
DUT
Distributed Test Component
DUT
Fixed Terminal (FT)Portable Terminal 1 (PT1)
RF Cable
Spectrum FT-PT-Transmission, TAC = 5 ms
Lutz Rauchhaupt - The flexWARE Project - 21st October 200926
Transmission Delay and Update Time forFT-PT-Transmission
TAC = 30 ms
Lutz Rauchhaupt - The flexWARE Project - 21st October 200927
TAC = 30 ms
TAC = 5 ms
Spectrum FT-PTs-Transmission, Distributed TAC = 3*24 ms
FT to PT1 FT to PT2 FT to PT3 FT to PT1 FT to PT2
TAC=3*16ms / 3*24ms
16ms / 24ms
Lutz Rauchhaupt - The flexWARE Project - 21st October 200928
Transmission Delay and Update Time forFT-PTs-Transmission, Distributed TAC = 3 * 24 ms
Lutz Rauchhaupt - The flexWARE Project - 21st October 200929
FT - PT2FT - PT1 FT - PT3
Spectrum FT-PTs- and PTs-FT-Transmission, Distributed TAC = 3 * 24 ms and TAC = 24 ms
Lutz Rauchhaupt - The flexWARE Project - 21st October 200930
Media Time FT-PTs- and PTs-FT-Transmission,Distributed TAC = 3 * 24 ms and TAC = 24 ms
Lutz Rauchhaupt - The flexWARE Project - 21st October 200931
Transmission Delay and Update Time FT-PTs- and PTs-FT-Transmission
FT - PT
Lutz Rauchhaupt - The flexWARE Project - 21st October 200932
FT - PT
PT - FT
Media Time DECT versus WLAN
-50
-40
-30
Leve
l [dB
m]
Lutz Rauchhaupt - The flexWARE Project - 21st October 200933
648 µs
0 100 200 300 400 500-80
-70
-60
Leve
l [dB
m]
Time [µs]
ca. 190 µs at 54 MBit/s
Transmission Delay and Update Time DECT versus WLAN, TAC = 10 ms
0 5 10 15 20 25 30 35 40 45
1
10
100
1000
10000
100000
1000000
Num
ber
of P
acke
ts
Lutz Rauchhaupt - The flexWARE Project - 21st October 200934
0 5 10 15 20 25 30 35 40 45
Transmission Delay [ms]
0 10 20 30 40 50 60
1
10
100
1000
10000
100000
1000000
Num
ber
of P
acke
ts
Update Time [ms]
DECT CLDPS PT-FT WLAN 12 MBit/sDECT CLDPS FT-PT
Summary and Outlook
� flexWare addresses future wireless cellular network solutions for real-time communication in the factory hall.
� flexWare takes into account different basis wireless technologies.
� The investigation of available implementations is the basis to indicate
Lutz Rauchhaupt - The flexWARE Project - 21st October 200935
� The investigation of available implementations is the basis to indicate optimisation potential with respect to the flexWARE key features.
� Proof of concept platform will be implemented based formal specification.
� Formal specification and simulation model can support future standardisation activities.