Remote Control Environment

摘要

This article reviews the results obtained when developing a Matlab/Simulink based research and test environment for remote real-time control research. It also includes analysis of the basic requirements and benefits for such tools. Simulink was selected as the implementation platform due to its superb control design and simulation capabilities. Some external mex-based add-ons were implemented to ensure its real-time behavior. These are orders of magnitude simpler than for example Matlab Real Time Workbench still offering same real-time capabilities. The actual control protocol was designed as a basis of a revised UDP protocol with extra headers for time labeling, sequence numbers and other options. It was also implemented as Simulink mex-files. The phase 1 research environment consisted of two Simulinks on separate computers, one for a control system and one for a simulated process model. This environment was used for basic level testing and real-time control studies with several different connections. The longest distance was about 500 km ACI-Helsinki-ACI. ACI stands for Automation and Control institute and it is located in Tampere University of Technology and is going to be referred as ACI from now on. Phase 2 development considered adapting the environment to a true process with Simulink as controller. The control protocol was implemented in TwinCat SoftPLC connected to a laboratory scaled pilot heating system with Profibus fielbus.