Table Of ContentTM
WirelessHART
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TM
WirelessHART
FFiilltteerr DDeessiiggnn ffoorr IInndduussttrriiaall WWiirreelleessss
NNeettwwoorrkkeedd CCoonnttrrooll SSyysstteemmss
Tran Duc Chung • Rosdiazli Ibrahim
Vijanth Sagayan Asirvadam
Nordin Saad • Sabo Miya Hassan
Boca Raton London New York
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To my beloved wife and best friend, Lidia, and my
princesses Azra, Auni, Ahna and Ayla, my love will
always be with you.
Rosdiazli Ibrahim
I would like to thank my parents, my wife Leah and
my son’s Ahil and Ashanth for their unfailing support.
Vijanth Sagayan Asirvadam
For my much-loved family.
Nordin B. Saad
To my beloved family, respective supervisors, friendly
colleagues and supportive teammates who have been
with me through pursuing my Ph.D. degree and
completing this book.
Tran Duc Chung
To my beloved family and humanity.
Sabo Miya Hassan
Contents
Preface xiii
List of Figures xv
List of Tables xix
1 Introduction 1
1.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
1.2 Communication Technology Evolution in the Industrial Process 2
1.3 IndustrialInternetofThingsandtheDemandforWirelessCon-
trol in the Process Industry . . . . . . . . . . . . . . . . . . . 4
1.4 This Book’s Scope and Organization . . . . . . . . . . . . . . 5
2 WirelessHART, The Leading Technology for Industrial
Wireless Networked Control Systems 7
2.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
2.1.1 An Overview of Networked Control Systems and Their
Classification . . . . . . . . . . . . . . . . . . . . . . . 8
2.1.2 Wired Networked Control Systems . . . . . . . . . . . 8
2.1.3 Home and Office Wireless Networked Control Systems 9
2.1.4 Industrial Wireless Networked Control Systems . . . . 10
2.2 WirelessHART, The Protocol and Applications . . . . . . . . 11
2.2.1 The Protocol . . . . . . . . . . . . . . . . . . . . . . . 11
2.2.2 WirelessHART’s Applications . . . . . . . . . . . . . . 13
2.2.2.1 Monitoring Application . . . . . . . . . . . . 14
2.2.2.2 Control Application . . . . . . . . . . . . . . 15
2.3 WirelessHART Simulators . . . . . . . . . . . . . . . . . . . 15
2.3.1 Simulator Development History . . . . . . . . . . . . . 16
2.3.2 An Overview of Existing Simulators . . . . . . . . . . 16
2.3.2.1 TrueTime-MATLAB(cid:13)R-based Simulator . . . 17
2.3.2.2 OMNeT++-based Simulator . . . . . . . . . 17
2.3.2.3 OPNET-based Simulator . . . . . . . . . . . 18
2.3.2.4 NS-3-based Simulator . . . . . . . . . . . . . 18
2.3.2.5 NS-2-based Simulator . . . . . . . . . . . . . 18
2.3.2.6 Hybrid Simulator . . . . . . . . . . . . . . . 20
2.3.2.7 Summary . . . . . . . . . . . . . . . . . . . . 21
2.3.3 Toward WirelessHART Hardware-in-the-loop Simulator 22
vii
viii Contents
2.4 Challenges with WirelessHART . . . . . . . . . . . . . . . . 23
2.4.1 Delay Issues . . . . . . . . . . . . . . . . . . . . . . . . 23
2.4.1.1 Wireless Network Delay Components . . . . 24
2.4.1.2 Delay Causes in Wireless Networks . . . . . 24
2.4.2 Packet Dropout Issues . . . . . . . . . . . . . . . . . . 25
2.4.2.1 Packet Dropout Causes . . . . . . . . . . . . 26
2.4.2.2 Packet Dropout Models . . . . . . . . . . . . 26
2.4.3 Correlation between Delay and Packet Dropout . . . . 29
2.4.4 Energy Efficient Feedback Control Demand . . . . . . 29
2.4.5 Ultra-Low Power Consumption of Wireless Nodes. . . 30
2.5 Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
3 Uncertainties in Industrial Wireless Mesh Networks 35
3.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
3.2 Environment Noises . . . . . . . . . . . . . . . . . . . . . . . 35
3.3 Surrounding Temperature Surfaces . . . . . . . . . . . . . . . 36
3.4 Path Fading . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
3.5 Signal-to-Noise Ratio . . . . . . . . . . . . . . . . . . . . . . 37
3.6 Overall Network Traffic . . . . . . . . . . . . . . . . . . . . . 37
3.7 Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
4 Delay and Packet Dropout Measurement in Wireless
Networked Control Systems 39
4.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
4.2 Wireless Network Delay Measurement Experiment . . . . . . 39
4.2.1 Experiment Setup . . . . . . . . . . . . . . . . . . . . 39
4.2.2 Supported Communication Modes . . . . . . . . . . . 40
4.2.3 End-to-end Delay Measurement Experiment . . . . . . 41
4.2.4 One-end Delay Measurement Experiment . . . . . . . 41
4.2.5 Comparison of End-to-end and One-end Delay
Measurement Experiments . . . . . . . . . . . . . . . 42
4.2.6 Effect of Variable Payload on Network Induced Delay
Experiment . . . . . . . . . . . . . . . . . . . . . . . . 43
4.2.7 Round trip Delay Calculation . . . . . . . . . . . . . . 44
4.3 Wired Link Contention Experiment . . . . . . . . . . . . . . 44
4.4 Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
5 Delay and Packet Dropout Compensation Techniques 47
5.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
5.2 Delay Compensation Techniques . . . . . . . . . . . . . . . . 47
5.2.1 Smith Predictor . . . . . . . . . . . . . . . . . . . . . 47
5.2.2 Internal Model Controller . . . . . . . . . . . . . . . . 48
5.2.3 Fuzzy Interference . . . . . . . . . . . . . . . . . . . . 49
5.2.4 EWMA Controller and Filter . . . . . . . . . . . . . . 50
5.2.5 PID-PLUS . . . . . . . . . . . . . . . . . . . . . . . . 51
Contents ix
5.2.6 Kalman Filter. . . . . . . . . . . . . . . . . . . . . . . 52
5.3 Packet Dropout Compensation Techniques . . . . . . . . . . 54
5.4 Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
6 The Basics of an EWMA Filter 57
6.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
6.2 First-order EWMA Filter . . . . . . . . . . . . . . . . . . . . 57
6.3 Second-order EWMA Filter . . . . . . . . . . . . . . . . . . . 59
6.4 Higher-order EWMA Filter . . . . . . . . . . . . . . . . . . . 61
6.5 Comparison with Other Filters . . . . . . . . . . . . . . . . . 61
6.6 Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
7 Advanced Dual Purpose EMWA Filter Design for Delay and
Packet Dropout Compensation 65
7.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
7.2 dpEWMA Filter Design for Delay Compensation . . . . . . . 67
7.2.1 Compensator Design . . . . . . . . . . . . . . . . . . . 67
7.2.2 Numerical Demonstration . . . . . . . . . . . . . . . . 70
7.3 dpEWMA Filter Design for Packet Dropout Compensation . 71
7.3.1 Modified Compensator Design . . . . . . . . . . . . . 71
7.3.2 Numerical Demonstration . . . . . . . . . . . . . . . . 73
7.4 dpEWMA Filter’s Performance . . . . . . . . . . . . . . . . . 73
7.4.1 Setpoint Tracking . . . . . . . . . . . . . . . . . . . . 73
7.4.2 Disturbance Rejection . . . . . . . . . . . . . . . . . . 76
7.5 dpEWMA Filter for Process with Long Delay . . . . . . . . 80
7.6 Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81
8 The Filter’s Performance over Wired Links 83
8.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . 83
8.2 Network Induced Delay Measurement . . . . . . . . . . . . . 83
8.2.1 End-to-end Delay Measurement . . . . . . . . . . . . . 83
8.2.1.1 Upstream Delay . . . . . . . . . . . . . . . . 83
8.2.1.2 Downstream Delay . . . . . . . . . . . . . . . 88
8.2.1.3 Delay Summary . . . . . . . . . . . . . . . . 89
8.2.2 One-end Delay Measurement . . . . . . . . . . . . . . 90
8.2.3 Variable Payload and Delays . . . . . . . . . . . . . . 91
8.3 Wired Link Contention Experimental Results . . . . . . . . . 94
8.3.1 Wired Link Delay Measurement . . . . . . . . . . . . 94
8.3.2 Wired Link Delay and Packet Dropout Correlation . . 95
8.3.3 ARX-based Kalman Filter for Packet Dropout
Estimation . . . . . . . . . . . . . . . . . . . . . . . . 98
8.4 Control Performance Assessment . . . . . . . . . . . . . . . . 100
8.4.1 Controller Parameters . . . . . . . . . . . . . . . . . . 100
8.4.2 Setpoint Tracking Performance Using the Designed
EWMA Filter . . . . . . . . . . . . . . . . . . . . . . . 101
